HM-40112-9
5-phase stepping motor and driver package Introduction
CRK Series Installation and Built-in Controller Type connection Operation type and USER MANUAL setting Method of control via I/O R-REM-OMC-108
Method of control via Modbus RTU (RS-485 communication) Method of control via industrial network
Inspection, troubleshooting and remedial actions Appendix
Thank you for purchasing an Oriental Motor product. This Manual describes product handling procedures and safety precautions. ••Please read it thoroughly to ensure safe operation. ••Always keep the manual where it is readily available.
1 Introduction
1 Introduction...... 8
2 Overview of the product...... 9
3 System configuration...... 11
4 Safety precautions...... 12
5 Precautions for use...... 14
6 General specifications...... 16
7 Regulations and standards...... 17 7-1 EU Directive...... 17 7-2 Republic of Korea, Radio Waves Act...... 17 7-3 RoHS Directive...... 17 8 Preparation...... 18 8-1 Checking the product...... 18 8-2 Combinations of motors and drivers...... 19 8-3 Names and functions of parts...... 21
2 Installation and connection
1 Installation...... 24 1-1 Location for installation...... 24 1-2 Installing the motor...... 24 1-3 Installing a load...... 26 1-4 Permissible radial load and permissible axial load...... 27 1-5 Installing the driver...... 30 1-6 Installing and wiring in compliance with EMC Directive...... 31 2 Connection...... 33 2-1 Connecting the motor...... 33 2-2 Connecting the connector-type motor...... 34 2-3 Connecting the electromagnetic brake...... 36 2-4 Connecting the power supply and grounding the driver...... 37 2-5 Connecting the I/O signals...... 38 2-6 Connecting the data setter...... 41 2-7 Connecting the encoder...... 41 2-8 Connecting the RS-485 communication cable...... 44 3 Explanation of I/O signals...... 45 3-1 Input signals...... 45 3-2 Output signals...... 51
2
3 Operation type and setting
1 Adjustment and setting...... 58 1-1 Step angle...... 58 1-2 Operating current...... 58 1-3 Standstill current...... 59 1-4 Acceleration/deceleration rate...... 59 2 Operation...... 60 2-1 Positioning operation...... 61 2-2 Return-to-home operation...... 70 2-3 Continuous operation...... 75 2-4 Other operation...... 77 3 Operation data...... 79
4 Parameter...... 80 4-1 Parameter list...... 80 4-2 I/O parameter...... 81 4-3 Motor parameter...... 82 4-4 Speed parameter...... 82 4-5 Return-to-home parameter...... 83 4-6 Alarm/warning parameter...... 83 4-7 Common parameter...... 84 4-8 Operation setting parameter...... 84 4-9 Communication parameter...... 85 5 Related functions...... 86 5-1 Position control...... 86 5-2 Encoder input...... 86 5-3 Misstep detection function...... 87
4 Method of control via I/O
1 Guidance...... 92
2 Operation data...... 95
3 Parameter...... 96 3-1 Parameter list...... 96 3-2 I/O parameter...... 97 3-3 Motor parameter...... 98 3-4 Speed parameter...... 98 3-5 Return-to-home parameter...... 98 3-6 Alarm/warning parameter...... 99 3-7 Common parameter...... 99 3-8 Communication parameter...... 99 3-9 Operation setting parameter...... 100 4 Timing charts...... 101
3
5 Method of control via Modbus RTU (RS-485 communication)
1 Guidance...... 104
2 Communication specifications...... 106
3 Setting the switches...... 107
4 Setting the RS-485 communication...... 109
5 Communication mode and communication timing...... 110 5-1 Communication mode...... 110 5-2 Communication timing...... 110 6 Message...... 111 6-1 Query...... 111 6-2 Response...... 113 7 Function code...... 115 7-1 Reading from a holding register(s)...... 115 7-2 Writing to a holding register...... 116 7-3 Diagnosis...... 116 7-4 Writing to multiple holding registers...... 117 7-5 Control method selection...... 118 8 Register address list...... 119 8-1 Register address types...... 119 8-2 Operation area...... 120 8-3 Maintenance area...... 123 8-4 Monitor area...... 124 8-5 Parameter area...... 126 8-6 Operation data area...... 129 9 Group send...... 131
10 Detection of communication errors...... 133 10-1 Communication errors...... 133 10-2 Alarms and warnings...... 133 11 Timing charts...... 134
12 Example of communication setting...... 136 12-1 Positioning operation...... 136 12-2 Continuous operation...... 138 12-3 Return-to-home operation...... 139
6 Method of control via industrial network
1 Method of control via CC-Link communication...... 142 1-1 Guidance...... 142 1-2 Setting the switches...... 145 1-3 Remote register list...... 146 1-4 Assignment for remote I/O of 6 axes connection mode...... 146 1-5 Assignment for remote I/O of 12 axes connection mode...... 149
4
2 Method of control via MECHATROLINK communication...... 154 2-1 Guidance...... 154 2-2 Setting the switches...... 157 2-3 I/O field map for theNET C01-M2...... 158 2-4 I/O field map for theNET C01-M3...... 159 2-5 Communication format...... 160 3 Details of remote I/O...... 162 3-1 Input signals to the driver...... 162 3-2 Output signals from the driver...... 162 4 Command code list...... 164 4-1 Group function...... 164 4-2 Maintenance command...... 165 4-3 Monitor command...... 166 4-4 Operation data...... 168 4-5 Application parameter...... 168 4-6 System parameter...... 170 4-7 Operation command...... 171
7 Inspection, troubleshooting and remedial actions
1 Inspection...... 174
2 Alarms and warnings...... 175 2-1 Alarms...... 175 2-2 Warnings...... 178 3 Troubleshooting and remedial actions...... 179
8 Appendix
1 Accessories...... 182
2 Method of control via GW protocol Version 1...... 183 2-1 Guidance...... 183 2-2 Communication specifications...... 186 2-3 Setting the switches...... 187 2-4 Communication mode...... 188 2-5 Communication timing...... 189 2-6 Frame structures...... 189 2-7 Control method selection...... 192 2-8 Example of communication setting...... 193 2-9 Command list...... 196 2-10 Command types...... 199 2-11 Command details...... 200 2-12 Simultaneous send...... 220 2-13 Group send...... 220 2-14 Detection of communication errors...... 222 2-15 Timing charts...... 223
5
6 1 Introduction
This part explains the composition of the operating manuals, the product overview, specifications and safety standards as well as the name and function of each part and others.
Table of contents
1 Introduction...... 8 2 Overview of the product...... 9 3 System configuration...... 11 4 Safety precautions...... 12 5 Precautions for use...... 14 6 General specifications...... 16 7 Regulations and standards...... 17 7-1 EU Directive...... 17 7-2 Republic of Korea, Radio Waves Act...... 17 7-3 RoHS Directive...... 17 8 Preparation...... 18 8-1 Checking the product...... 18 8-2 Combinations of motors and drivers...... 19 8-3 Names and functions of parts...... 21 Introduction 1 Introduction
Before use Only qualified personnel of electrical and mechanical engineering should work with the product. Use the product correctly after thoroughly reading the section “4 Safety precautions” on p.12. In addition, be sure to observe the contents described in warning, caution, and note in this manual. The product described in this manual has been designed and manufactured to be incorporated in general industrial equipment. Do not use for any other purpose. For the driver’s power supply, use a DC power supply with reinforced insulation on its primary and secondary sides. Oriental Motor Co., Ltd. is not responsible for any damage caused through failure to observe this warning.
Related operating manuals 1 Introduction For operating manuals not included with the product, contact your nearest Oriental Motor sales office or download from Oriental Motor Website Download Page.
Included or not included Operating manual name with product CRK Series FLEX Built-in controller type OPERATING MANUAL Included CRK Series FLEX Built-in controller type USER MANUAL (this document) Not included Data setter OPX-2A OPERATING MANUAL Not included
Notation rules The following term is used in explanation of this manual.
Term Description This is a generic name for a programmable controller, master module, Master controller pulse generator and so on.
8 Overview of the product 2 Overview of the product
This product is a motor and driver package product consisting of a 5-phase stepping motor designed for high torque and low vibration, and a driver with built-in controller function. The driver is compatible with I/O control, Modbus RTU control (RS-485 communication), and FA network control via the network converter. The operation data and parameters can be set using a support software MEXE02, an accessory data setter OPX-2A, or via RS-485 communication.
Main features
zz Three operating patterns You can perform positioning operation, return-to-home operation and continuous operation. Up to 63 operation data points can be set, and multi-point positioning is also possible. zz Low vibration, low noise 1 Introduction The micro-step driver with smooth drive function achieves low vibration and low noise. zz Supporting Modbus RTU (RS-485 communication) You can set operation data and parameters or issue operation start/stop commands from the master station. Up to 31 drivers can be connected to one master controller. zz Detection of misstep If the deviation between the encoder counter value and driver command position reaches or exceeds the set value, a STEPOUT output signal will be output. zz Alarm and warning functions The driver provides alarms that are designed to protect the driver from overheating, poor connection, misoperation, etc. (protective functions), as well as warnings that are output before the corresponding alarms generate (warning functions).
Accessories The operation data and parameters can be set using a MEXE02, accessory OPX-2A or via RS-485 communication. Provide the MEXE02 or OPX-2A as necessary. •• MEXE02...... The MEXE02 can be downloaded from Oriental Motor Website Download Page. When the MEXE02 is used, a communication cable for support software CC05IF-USB (accessory) is needed to connect a PC and driver. Be sure to purchase it. •• OPX-2A...... This product can be purchased separately.
Related products You can connect the CRK Series FLEX built-in controller via the network converter so as to use in various network.
Network converter Supported network NETC01-CC CC-Link Ver.1.1 NETC02-CC CC-Link Ver.2 NETC01-M2 MECHATROLINK-II NETC01-M3 MECHATROLINK-III NETC01-ECT EtherCAT
9 Overview of the product
Function list
Main functions
Return-to-home operation • 2-sensor mode • Data setting mode (Position preset) [Setting by parameters] • 3-sensor mode
• Positioning operation
Operation function Starting method Motor operation Single-motion operation 1 Introduction Data number selecting operation Linked-motion operation + Sequential positioning operation [Setting by operation data Linked-motion operation 2 and parameters]
• Continuous operation
Other operations • JOG operation [Setting by parameters]
Support functions
• Protective function • Return-to-home function Alarm detection Home position o set Warning detection External sensor signal detection • I/O function • Stop operation Output function selection STOP input action Input logic level setting Hardware overtravel [Setting by parameters] Software overtravel • Coordination setting • Motor function setting Motor resolution Operating current Motor rotation direction Standstill current Encoder setting (Electronic gear)
External interface
• Monitor function • Data storing • Test function Test operation Data setter • Operation data setting • Download/Upload Teaching • Parameter setting • Data initialization I/O test
• Operation start • Monitor function RS-485 communication • Operation data setting • Maintenance function • Parameter setting
10 System configuration 3 System configuration
Master controller Connect master controller when controlling Connect to the system via RS-485 communication. CN6 or CN7. PC in which the MEXE02 has been installed * OPX-2A
or 1 Introduction
Connect to CN3.
Connect to CN2. Encoder connection Connect a motor with an encoder if used.
Master controller Connect to CN4.
+24 V Motor Grounding GND AC power DC power Noise lter supply supply Use a noise lter to eliminate noise. It has the eect of reducing noise generated from the power supply and driver.
** The PC must be supplied by the user. Use the accessory communication cable for the support software when connecting the PC and driver.
11 Safety precautions 4 Safety precautions
The precautions described below are intended to prevent danger or injury to the user and other personnel through safe, correct use of the product. Use the product only after carefully reading and fully understanding these instructions.
Handling the product without observing the instructions that accompany a “WARNING” symbol may result in serious injury or death. Handling the product without observing the instructions that accompany a “CAUTION” symbol may result in injury or property damage. The items under this heading contain important handling instructions that the user should observe to ensure safe use of the product. 1 Introduction
General •• Do not use the product in explosive or corrosive environments, in the presence of flammable gases, locations subjected to splashing water, or near combustibles. Doing so may result in fire, electric shock or injury. •• Assign qualified personnel the task of installing, wiring, operating/controlling, inspecting and troubleshooting the product. Failure to do so may result in fire, electric shock or injury. •• The motor will lose its holding torque when its excitation or the power supply is turned off. Take measures to keep the moving part in position if the product is used in vertical operations such as elevating equipment. The moving part may drop, leading to injury or damage to equipment. •• Do not use the brake mechanism of the electromagnetic brake motor for braking or as a safety brake. The electromagnetic brake is used for the purpose to hold the moving part and motor in position. Using it for braking or as a safety brake may result in injury or damage to equipment. •• With certain types of alarms (protective functions), the motor may stop when the alarm generates and the holding torque will be lost as a result. This will result in injury or damage to equipment. •• When an alarm is generated, first remove the cause and then clear the alarm. Continuing the operation without removing the cause of the problem may cause malfunction of the motor and driver, leading to injury or damage to equipment. Connection •• Always keep the power supply voltage of the driver within the specified range. Failure to do so may result in fire. •• For the driver’s power supply, use a DC power supply with reinforced insulation on its primary and secondary sides. Failure to do so may result in electric shock. •• Connect the cables securely according to the wiring diagram in order to prevent fire. •• Do not forcibly bend, pull or pinch the cable or lead wire. Doing so may result in fire. Repetitive stress or overstress on the connection part may cause damage to the product. •• Turn off the power to both the PC and driver before connecting your PC to the driver. Failure to do so may cause electric shock. Operation •• Turn off the driver power in the event of a power failure. Otherwise, the motor may suddenly start when the power is restored, causing injury or damage to equipment. •• Do not turn the excitation to off while the motor is operating. The motor will stop and lose its holding ability, which may result in injury or damage to equipment. •• Configure an interlock circuit using a sequence program so that the entire system including the driver will operate on the safe side if a RS-485 communication error occurs. Repair, disassembly and modification •• Do not disassemble or modify the motor and driver. This may cause injury. Refer all such internal inspections and repairs to the Oriental Motor sales office from which you purchased the product.
12 Safety precautions
General •• Do not use the motor and driver beyond its specifications. Doing so may result in injury or damage to equipment. •• Keep your fingers and objects out of the openings in the motor and driver. Failure to do so may result in fire or injury. •• Do not touch the motor and driver during operation or immediately after stopping. The surface is hot and may cause a skin burn(s). Transportation •• Do not hold the motor output shaft, motor cable or lead wires. This may cause damage or injury. Installation •• Install the motor and driver in an enclosure in order to prevent injury. •• Keep the area around the motor and driver free of combustible materials in order to prevent fire or a skin burn(s). •• Provide a cover over the rotating parts (output shaft) of the motor to prevent injury. 1 Introduction Connection •• The driver’s power supply connector (CN1), I/O connector (CN2), data edit connector (CN3) and RS-485 communication connectors (CN6/CN7) are not electrically insulated. When grounding the positive terminal of the power supply, do not connect any equipment (PC, etc.) whose negative terminal is grounded. Doing so may cause the driver and PC to short, damaging both. •• When connecting, check the silk screen of the driver and pay attention to the polarity of the power supply. Reverse-polarity connection may cause damage to the driver. The power-supply circuit and the RS-485 communication circuit are not insulated. Therefore, when controlling multiple drivers via RS-485 communication, the reverse polarity of the power supply will cause a short circuit and may result in damage to the drivers. Operation •• Use a motor and driver only in the specified combination. An incorrect combination may cause a fire. •• Provide an emergency stop device or emergency stop circuit external to the equipment so that the entire equipment will operate safely in the event of a system failure or malfunction. Failure to do so may result in injury. •• Before supplying power to the driver, turn all control inputs to the driver to OFF. Otherwise, the motor may suddenly start when the power is turned on, leading to injury or damage to equipment. •• Set the speed and acceleration/deceleration rate at reasonable levels. Otherwise, the motor will misstep and the moving part may move in an unexpected direction, resulting in injury or damage to equipment. •• Do not touch the rotating part (output shaft) during operation. This may cause injury. •• Before rotating the output shaft manually while the motor stops, shut off the power supply of the driver or turn the excitation OFF to cut off the motor current. Failure to do so may result in injury. •• The motor surface temperature may exceed 70 °C (158 °F) even under normal operating conditions. If the operator is allowed to approach the running motor, attach a warning label as shown below in a conspicuous position. Failure to do so may result in skin burn(s). Warning label •• Immediately when trouble has occurred, stop running and turn off the driver power. Failure to do so may result in fire or injury. •• Static electricity may cause the driver to malfunction or suffer damage. While the driver is receiving power, do not touch the driver. Use only an insulated slotted screwdriver to adjust the driver’s switches. Disposal •• Dispose the product correctly in accordance with laws and regulations, or instructions of local governments.
13 Precautions for use 5 Precautions for use
This section covers limitations and requirements the user should consider when using the product. zz When conducting the insulation resistance measurement and the dielectric strength test, be sure to separate the connection between the motor and the driver. Conducting the insulation resistance measurement or dielectric strength test with the motor and driver connected may result in damage to the product. zz Do not apply strong impact on the motor output shaft. If you are using a motor with encoder, an optical encoder is housed in the motor. To prevent damage to the encoder, handle the motor with care and avoid strong impact to the motor output shaft when transporting the motor or installing the load.
1 Introduction zz Do not apply a radial load and axial load in excess of the specified permissible limit Operating it under an excessive radial load and axial load may damage the motor bearings (ball bearings). Be sure to operate the motor within the specified permissible limit of radial load and axial load. See p.27 for details. zz Motor case temperature •• The motor case surface temperature may exceed 100 °C (212 °F) under certain conditions (ambient temperature, operating speed, duty cycle, etc.). Keeping the surface temperature of the motor case below 100 °C (212 °F) will also maximize the life of the motor bearings (ball bearings). •• Use the geared motor in a condition where the gear case temperature does not exceed 70 °C (158 °F), in order to prevent deterioration of grease and parts in the gear case. •• When the motor with encoder is used, make sure the temperature of the encoder case does not exceed 80 °C (176 °F). zz Holding torque at standstill The motor holding torque is reduced by the current cutback function of the driver at motor standstill. When selecting a motor, check the holding torque at motor standstill in the specifications on the catalog. zz Do not use the electromagnetic brake to reduce speed or as a safety brake. Do not use the electromagnetic brake as a means to decelerate and stop the motor. The brake hub of the electromagnetic brake will wear significantly and the braking force will drop if used to stop the motor. The electromagnetic brake is a power-off activated type. This means that although it helps maintain the position of the load in the event of power outage, etc., this brake cannot securely hold the load in place. Accordingly, do not use the electromagnetic brake as a safety brake. To use the electromagnetic brake to hold the load in place, do so after the motor has stopped. zz Note on connecting a power supply whose positive terminal is grounded The driver’s power supply connector (CN1), I/O connector (CN2), data edit connector (CN3) and RS-485 communication connectors (CN6/CN7) are not electrically insulated. When grounding the positive terminal of the power supply, do not connect any equipment (PC, etc.) whose negative terminal is grounded. Doing so may cause the driver and PC to short, damaging both. zz Preventing electrical noise See “1-6 Installing and wiring in compliance with EMC Directive” on p.31 for measures with regard to noise. zz Regeneration The overvoltage alarm will generate depending on the operating condition. When an alarm is generated, review the operating conditions. zz Saving data to the non-volatile memory Do not turn off the main power supply while data is being written to the non-volatile memory and five seconds after the completion of a data write. Doing so may abort the data write and cause a EEPROM error alarm to generate. The non-volatile memory can be rewritten approximately 100,000 times. zz Grease of geared motor On rare occasions, a small amount of grease may ooze out from the geared motor. If there is concern over possible environmental damage resulting from the leakage of grease, check for grease stains during regular inspections. Alternatively, install an oil pan or other device to prevent leakage from causing further damage. Oil leakage may lead to problems in the customer’s equipment or products.
14 Precautions for use zz Rotating direction of the gear output shaft The relationship between the rotating direction of the motor shaft and that of the gear output shaft changes as follows, depending on the gear type and gear ratio.
Rotating direction (relative to the motor rotating direction) Frame size [mm (in.)] Type of gear Gear ratio 20 (0.79) 28 (1.10) 42 (1.65) 60 (2.36) ø22 (0.87) 30 (1.18) 3.6, 7.2, 10 − Opposite direction Same direction TH geared 20, 30 − Same direction Opposite direction PS geared All gear ratio Same direction PN geared Harmonic geared All gear ratio Opposite direction 1 Introduction
15 General specifications 6 General specifications
Motor Driver ••High-resolution type ••High-torque type IP20 ••High-torque type with encoder ••Geared type (CRK513P, CRK523P)
Degree of protection ••Standard type IP20 ••Standard type with electromagnetic brake IP30 ••Standard type with encoder
1 Introduction ••Geared type (CRK543, CRK544, CRK564, CRK566) −10 to +50 °C (+14 to +122 °F) PS geared type of ø22 mm (ø0.87 in.): Ambient 0 to +40 °C (+32 to +104 °F) 0 to +50 °C (+32 to +122 °F) (non-freezing) temperature (non-freezing) Harmonic geared type: Operation 0 to +40 °C (+32 to +104 °F) (non-freezing) environment Humidity 85% or less (non-condensing) Altitude Up to 1,000 m (3,300 ft.) above sea level Surrounding No corrosive gas, dust, water or oil atmosphere Ambient −20 to +60 °C (−4 to +140 °F) (non-freezing) −25 to +70 °C (−13 to +158 °F) (non-freezing) temperature Storage Humidity 85% or less (non-condensing) environment Altitude Up to 3,000 m (10,000 ft.) above sea level Surrounding No corrosive gas, dust, water or oil atmosphere Ambient −20 to +60 °C (−4 to +140 °F) (non-freezing) −25 to +70 °C (−13 to +158 °F) (non-freezing) temperature Shipping Humidity 85% or less (non-condensing) environment Altitude Up to 3,000 m (10,000 ft.) above sea level Surrounding No corrosive gas, dust, water or oil atmosphere 100 MΩ or more when 500 VDC megger is 100 MΩ or more when 500 VDC megger is Insulation resistance applied between the FG terminal and power applied between the windings and case. supply terminal. Sufficient to withstand the following between the windings and case for 1 minute. ••PK513P, PK52PM, PK52P, PK54PM, Sufficient to withstand 500 VAC at 50 Hz or Dielectric strength PK54P: 0.5 kVAC 50/60 Hz 60 Hz applied between the FG terminal and ••PK54: 1.0 kVAC 50/60 Hz power supply terminal for one minute. ••PK52HPM, PK52HP, PK56PM, PK56: 1.5 kVAC 50/60 Hz
16 Regulations and standards 7 Regulations and standards
7-1 EU Directive
CE Marking
zz Low Voltage Directive Although this product is exempt from the Low Voltage Directive since the input power supply voltage is 24 VDC, perform the installation and connection as follows. •• This product is designed and manufactured to be incorporated in equipment. Install the product in an enclosure.
•• For the driver power supply, use a DC power supply with reinforced insulation on its primary and secondary sides. 1 Introduction Installation conditions
Motor Driver Overvoltage category I I Pollution degree 2 2 ••High-resolution type ••High-torque type IP20 ••High-torque type with encoder ••Geared type (CRK513P, CRK523P) Degree of protection IP20 ••Standard type ••Standard type with encoder IP30 ••Standard type with electromagnetic brake ••Geared type (CRK543, CRK544, CRK564, CRK566)
zz EMC Directive This product is conducted EMC testing under the conditions specified in “Example of motor and driver installation and wiring” on p.32. The conformance of your mechanical equipment with the EMC Directive will vary depending on such factors as the configuration, wiring, and layout for other control system devices and electrical parts used with this product. It therefore must be verified through conducting EMC measures in a state where all parts including this product have been installed in the equipment. Applicable standards
EN 55011 group 1 class A EMI EN 61000-6-4 EMS EN 61000-6-2
This equipment is not intended for use in residential environments nor for use on a low- voltage public network supplied in residential premises, and it may not provide adequate protection to radio reception interference in such environments.
7-2 Republic of Korea, Radio Waves Act
This product is affixed the KC Mark under the Republic of Korea, Radio Waves Act.
7-3 RoHS Directive
The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).
17 Preparation 8 Preparation
This chapter explains the items you should check, as well as the name and function of each part.
8-1 Checking the product
Verify that the items listed below are included. Report any missing or damaged items to the Oriental Motor sales office from which you purchased the product. The unit models and corresponding motor/driver combinations are listed on p.19. zz Items included with all unit models •• Motor...... 1 unit •• Driver...... 1 unit
1 Introduction •• CN1 connector (3 pins)...... 1 pc. •• CN2 connector cable [1 m (3.3 ft.), 40 pins]...... 1 pc. •• CN4 connector lead wires [0.6 m (2 ft.), 5 pins]...... 1 pc. •• OPERATING MANUAL...... 1 copy zz Item included with motors with electromagnetic brake •• Varistor...... 1 pc. zz Items included with connector-type motor units Applicable product: High-resolution type, high-torque type, high-torque type with encoder, Geared type (CRK513P, CRK523P) •• Motor connector lead wires [0.6 m (2 ft.), 5 pins]...... 1 pc. zz Items included with motor units with encoder [20 mm (0.79 in.), 28 mm (1.10 in.)] Applicable product: High-torque type with encoder (CRK513PRKD2, CRK52PRKD2) •• Encoder connector lead wires [0.6 m (2 ft.), 8 pins]...... 1 pc. •• CN5 connector lead wires [0.6 m (2 ft.), 9 pins]...... 1 pc. zz Items included with motor units with encoder [42 mm (1.65 in.), 60 mm (2.36 in.)] Applicable product: High-torque type with encoder (CRK54PRKD), Standard type with encoder (CRK54RKD, CRK56RKD) •• CN5 connector lead wires [0.6 m (2 ft.), 9 pins]...... 1 pc.
18 Preparation
8-2 Combinations of motors and drivers
Verify the model number of the purchased unit against the number shown on the package label. Check the model number of the motor and driver against the number shown on the nameplate. •• The box () in the model name indicates A (single shaft) or B (double shaft) •• For geared type, the box () in the model name indicates a number of the gear ratio.
High-resolution type
Frame size [mm (in.)] Model Motor model Driver model CRK523PMKD PK523PM CRK524PMKD PK524PM CRD503-KD CRK525PMKD PK525PM 28 (1.10) CRK523HPMKD PK523HPM
CRK524HPMKD PK524HPM CRD507H-KD 1 Introduction CRK525HPMKD PK525HPM CRK544PMKD PK544PM 42 (1.65) CRD507-KD CRK546PMKD PK546PM CRK564PMKD PK564PM 60 (2.36) CRK566PMKD PK566PM CRD514-KD CRK569PMKD PK569PM
High-torque type
Frame size [mm (in.)] Model Motor model Driver model 20 (0.79) CRK513PKD PK513P CRD503-KD CRK523PKD PK523P CRD503-KD CRK525PKD PK525P 28 (1.10) CRK523HPKD PK523HP CRD507H-KD CRK525HPKD PK525HP CRK544PKD PK544P 42 (1.65) CRD507-KD CRK546PKD PK546P
High-torque type with encoder
Frame size [mm (in.)] Model Motor model Driver model 20 (0.79) CRK513PRKD2 PK513PA-R2GL CRD503-KD CRK523PRKD2 PK523PA-R2GL CRD503-KD CRK525PRKD2 PK525PA-R2GL 28 (1.10) CRK523HPRKD2 PK523HPA-R2GL CRD507H-KD CRK525HPRKD2 PK525HPA-R2GL CRK544PRKD PK544PA-R23L 42 (1.65) CRD507-KD CRK546PRKD PK546PA-R23L
19 Preparation
Standard type with encoder
Frame size [mm (in.)] Model Motor model Driver model CRK543RKD PK543AW-R23L 42 (1.65) CRK544RKD PK544AW-R23L CRD507-KD CRK545RKD PK545AW-R23L CRK564RKD PK564AW-R23L 60 (2.36) CRK566RKD PK566AW-R23L CRD514-KD CRK569RKD PK569AW-R23L
Standard type with electromagnetic brake
Frame size [mm (in.)] Model Motor model Driver model
1 Introduction CRK543AMKD PK543AWM 42 (1.65) CRK544AMKD PK544AWM CRD507-KD CRK545AMKD PK545AWM CRK564AMKD PK564AWM 60 (2.36) CRK566AMKD PK566AWM CRD514-KD CRK569AMKD PK569AWM
Standard type
Frame size [mm (in.)] Model Motor model Driver model CRK543KD PK543W 42 (1.65) CRK544KD PK544W CRD507-KD CRK545KD PK545W CRK564KD PK564W 60 (2.36) CRK566KD PK566W CRD514-KD CRK569KD PK569W
TH geared type
Frame size [mm (in.)] Model Motor model Driver model 28 (1.10) CRK523PAKD-T PK523PA-T CRD503-KD 42 (1.65) CRK543AKD-T PK543AW-T CRD507-KD 60 (2.36) CRK564AKD-T PK564AW-T CRD514-KD
PS geared type
Frame size [mm (in.)] Model Motor model Driver model ø22 (0.87) CRK513PAKD-PS PK513PA-PS CRD503-KD 28 (1.10) CRK523PAKD-PS PK523PA-PS CRD503-KD CRK543AKD-PS PK543AW-PS 42 (1.65) CRD507-KD CRK545AKD-PS PK545AW-PS CRK564AKD-PS PK564AW-PS 60 (2.36) CRD514-KD CRK566AKD-PS PK566AW-PS
20 Preparation
PN geared type
Frame size [mm (in.)] Model Motor model Driver model 28 (1.10) CRK523PAKD-N PK523PA-N CRD503-KD 42 (1.65) CRK544AKD-N PK544AW-N CRD507-KD CRK564AKD-N PK564AW-N 60 (2.36) CRD514-KD CRK566AKD-N PK566AW-N
Harmonic geared type
Frame size [mm (in.)] Model Motor model Driver model 20 (0.79) CRK513PAKD-H PK513PA-HS CRD503-KD 30 (1.18) CRK523PAKD-H PK523HPA-HS CRD507H-KD
42 (1.65) CRK543AKD-H PK543AW-HS CRD507-KD 1 Introduction 60 (2.36) CRK564AKD-H PK564AW-HS CRD514-KD
8-3 Names and functions of parts
Motor (Example: PK56) zz Standard type zz Standard type with encoder
Encoder
Mounting holes (4 places)
Output shaft
Pilot Encoder cable Motor cable Encoder lead wires (9 pcs.) Motor lead wires (5 pcs.)
21 Preparation
Driver
RS-485 communication POWER LED (green) connectors (CN6/CN7) ALARM LED (red) Terminal resistor setting switch (SW3) C-DAT LED (green) Data edit connector (CN3) C-ERR LED (red)
Encoder connector (CN5) Address number setting switch (SW1)
Function setting switch (SW2) 1 Introduction
Motor connector (CN4) I/O signals connector (CN2)
Power supply connector (CN1)
DIN lever
Name Description Reference POWER LED (green) This LED is lit while the main power is input. − This LED will blink when an alarm generates (a protective function is ALARM LED (red) triggered). You can check the generated alarm by counting the number of p.175 times the LED blinks. This LED will blink or lit steadily when the driver is communicating with C-DAT LED (green) − the master station properly via RS-485 communication. This LED will lit when a RS-485 communication error occurs with the C-ERR LED (red) − master station. Address number setting switch Use this switch when controlling the system via RS-485 communication. (SW1) Sets the address number of RS-485 communication. (Factory setting: 0) Use this switches when controlling the system via RS-485 communication. Nos.1 to 3: Set the baud rate of RS-485 communication. p.107 Function setting switch (SW2) (Factory setting: ON) No.4: Sets the connection destination of RS-485 communication. (Factory setting: OFF) Use this switch when controlling the system via RS-485 communication. Terminal resistor setting switch Set the terminal resistor (120 Ω) of RS-485 communication. p.108 (SW3) (Factory setting: OFF) Power supply connector (CN1) Connects main power supply (+24 VDC) using the included connector. p.37 I/O signals connector (CN2) Connects I/O signals using the included cable/connector assembly. p.38 Data edit connector (CN3) Connects a PC in which the MEXE02 has been installed, or the OPX-2A. p.41 p.33 Motor connector (CN4) Connects the motor. p.34 Encoder connector (CN5) Connects the encoder. p.41 RS-485 communication connectors Connects the RS-485 communication cable. p.44 (CN6/CN7)
22 2 Installation and connection
This part explains the installation method of the product, the mounting method of a load and the connection method as well as I/O signals.
Table of contents
1 Installation...... 24 2-3 Connecting the electromagnetic brake...... 36 1-1 Location for installation...... 24 2-4 Connecting the power supply and 1-2 Installing the motor...... 24 grounding the driver...... 37 1-3 Installing a load...... 26 2-5 Connecting the I/O signals...... 38 1-4 Permissible radial load and 2-6 Connecting the data setter...... 41 permissible axial load...... 27 2-7 Connecting the encoder...... 41 1-5 Installing the driver...... 30 2-8 Connecting the RS-485 communication 1-6 Installing and wiring in compliance with cable...... 44 EMC Directive...... 31 2 Connection...... 33 3 Explanation of I/O signals...... 45 3-1 Input signals...... 45 2-1 Connecting the motor...... 33 3-2 Output signals...... 51 2-2 Connecting the connector-type motor...34 Installation 1 Installation
This chapter explains the installation location and installation method of the motor and driver, and installing a load. Also covered in this section are the installation and wiring methods that are in compliance with the relevant EMC Directives.
1-1 Location for installation
The driver is designed and manufactured for installation in equipment. Install it in a well-ventilated location that provides easy access for inspection. The location must also satisfy the following conditions: •• Inside an enclosure that is installed indoors (provide vent holes) •• Operating ambient temperature Motor: −10 to +50 °C (+14 to +122 °F) (non-freezing) PS geared type of ø22 mm (ø0.87 in.): 0 to +50 °C (+32 to +122 °F) (non-freezing) Harmonic geared type: 0 to +40 °C (+32 to +104 °F) (non-freezing)
2 Installation and connection 2 Installation Driver: 0 to +40 °C (+32 to +104 °F) (non-freezing) •• Operating ambient humidity 85% or less (non-condensing) •• Area that is free of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid •• Area not exposed to direct sun •• Area free of excessive amount of dust, iron particles or the like •• Area not subject to splashing water (rain, water droplets), oil (oil droplets) or other liquids •• Area free of excessive salt •• Area not subject to continuous vibration or excessive shocks •• Area free of excessive electromagnetic noise (from welders, power machinery, etc.) •• Area free of radioactive materials, magnetic fields or vacuum •• Up to 1,000 m (3,300 ft.) above sea level
1-2 Installing the motor
The motor can be installed in any direction. Install the motor onto an appropriate flat metal plate having excellent vibration resistance and heat conductivity. When installing the motor, secure it with four screws (not included) through the four mounting holes. Do not leave a gap between the motor and metal plate.
zz Installation method A zz Installation method B
Pilot holder Mounting holes Metal plate Metal plate
Mounting holes
Pilot holder
Not ••Insert the pilot located on the motor’s installation surface into the pilot holder. ••When installing the motor, do not apply strong force using a hammer or other tools. Doing so may cause damage to the motor.
24 Installation
Screw size, tightening torque and installation method •• The box () in the model name indicates A (single shaft) or B (double shaft). •• For geared type, the box () in the model name indicates a number of the gear ratio.
Tightening Effective depth Frame size Installation Type Motor model Nominal size torque of screw thread [mm (in.)] method [N·m (oz-in)] [mm (in.)] High-torque type PK513P High-torque type with M2 0.25 (35) 2.5 (0.098) 20 (0.79) PK513PA-R2GL A encoder Harmonic geared PK513P-HS M2 0.25 (35) 5 (0.197) ø22 (0.87) PS geared PK513P-PS M2 0.25 (35) 3.5 (0.138) A PK523PM PK524PM PK525PM High-resolution type PK523HPM PK524HPM PK525HPM
PK523P and connection 2 Installation M2.5 0.5 (71) 2.5 (0.098) PK525P High-torque type PK523HP 28 (1.10) A PK525HP PK523PA-R2GL High-torque type with PK525PA-R2GL encoder PK523HPA-R2GL PK525HPA-R2GL TH geared PK523P-T M2.5 0.5 (71) 4 (0.157) PS geared PK523P-PS M3 1 (142) 6 (0.236) PN geared PK523P-N 30 (1.18) Harmonic geared PK523HP-HS M3 1 (142) 6 (0.236) A PK544PM High-resolution type PK546PM PK544P High-torque type PK546P High-torque type with PK544PA-R23L encoder PK546PA-R23L PK543AW-R23L Standard type with PK544AW-R23L M3 1 (142) 4.5 (0.177) encoder PK545AW-R23L PK543AWM Standard type with 42 (1.65) PK544AWM A electromagnetic brake PK545AWM PK543W Standard type PK544W PK545W TH geared PK543W-T PK543W-PS PS geared PK545W-PS M4 2 (280) 8 (0.315) PN geared PK544W-N Harmonic geared PK543W-HS PK564PM High-resolution type PK566PM PK569PM 60 (2.36) M4 2 (280) − B PK564AW-R23L Standard type with PK566AW-R23L encoder PK569AW-R23L
25 Installation
Tightening Effective depth Frame size Installation Type Motor model Nominal size torque of screw thread [mm (in.)] method [N·m (oz-in)] [mm (in.)] PK564AWM Standard type with PK566AWM electromagnetic brake PK569AWM M4 2 (280) − B PK564W Standard type PK566W PK569W 60 (2.36) TH geared PK564W-T M4 2 (280) 8 (0.315) PK564W-PS PS geared PK566W-PS A PK564W-N M5 2.5 (350) 10 (0.394) PN geared PK566W-N Harmonic geared PK564W-HS
1-3 Installing a load 2 Installation and connection 2 Installation
When connecting a load to the motor, align the centers of the motor’s output shaft and load shaft. Also, keep the radial load and axial load to the permissible values or below.
••When coupling the load to the motor, pay attention to the centering of the shafts, belt tension, parallelism of the pulleys, and so on. Securely tighten the coupling and pulley set screws. ••Be careful not to damage the output shaft or bearings (ball bearing) when installing a coupling or pulley to the motor’s output shaft. ••Do not modify or machine the motor’s output shaft. Doing so may damage the bearings and destroy the motor. ••If you are using a motor with encoder, an optical encoder is housed in the motor. To prevent damage to the encoder, handle the motor with care and avoid strong impact to the motor output shaft when transporting the motor or installing the load. ••Do not apply strong force using hammer or other tools when removing the parallel key. Doing so may damage the motor output shaft and bearings (ball bearings).
zz Using a coupling Align the centers of the motor’s output shaft and load shaft in a straight line. zz Using a belt drive Align the motor’s output shaft and load shaft in parallel with each other, and position both pulleys so that the line connecting their centers is at a right angle to the shafts. zz Using a gear drive Align the motor’s output shaft and gear shaft in parallel with each other, and let the gears mesh at the center of the tooth widths. zz Using a fastening key (geared motor) Connect a load to the gear output shaft having a key groove, first provide a key groove on the load and fix the load with the gear output shaft using the included key. zz Installing on the flange surface (Harmonic geared type) With a Harmonic geared type, a load can be installed directly to the gear using the load mounting holes provided on the flange surface.
Flange Load surface Screws Load mounting holes
Metal plate
26 Installation
Tightening torque Effective depth of screw thread Motor model Nominal size Number of screws [N·m (oz-in)] [mm (in.)] PK513 M2 3 0.35 (49) 3 (0.118) PK523 M3 4 1.4 (198) 4 (0.157) PK543 M3 6 1.4 (198) 5 (0.20) PK564 M4 6 2.5 (350) 6 (0.236)
••When installing a load on the flange surface, the load cannot also be affixed using the keyway (or milled surface) in the output shaft. ••Design an appropriate installation layout so that the load will not contact the metal plate or screws used for installing the motor.
1-4 Permissible radial load and permissible axial load
The radial load and the axial load on the motor’s output shaft must be kept under the permissible values listed table. •• The box () in the model name indicates A (single shaft) or B (double shaft).
•• For geared type, the box () in the model name indicates a number of the gear ratio. and connection 2 Installation
••Failure due to fatigue may occur when the motor bearings and output shaft are subject to repeated loading by a radial or axial load that is in excess of the permissible limit. ••The permissible radial load and permissible axial load of the PS geared type and PN geared type represent the value that the service life of the gear part satisfies 20,000 hours when either of the radial load or axial load is applied to the gear output shaft.
Permissible radial load [N (lb.)] Distance from the tip of motor output Permissible Frame size Type Motor model Gear ratio shaft [mm (in.)] axial load [mm (in.)] 0 5 10 15 20 [N (lb.)] (0) (0.20) (0.39) (0.59) (0.79) High-torque type PK513P − 12 15 High-torque type − − − 3 (0.67) PK513PA-R2GL − (2.7) (3.3) 20 (0.79) with encoder 50 75 Harmonic geared PK513P-HS All gear ratio − − − 60 (13.5) (11.2) (16.8) 20 30 ø22 (0.87) PS geared PK513P-PS All gear ratio − − − 20 (4.5) (4.5) (6.7) PK523PM PK523HPM High-resolution PK524PM − type PK524HPM PK525PM PK525HPM PK523P 25 34 52 − − 5 (1.12) PK523HP (5.6) (7.6) (11.7) High-torque type − PK525PA 28 (1.10) PK525HPA PK523PA-R2GL High-torque type PK523HPA-R2GL − with encoder PK525PA-R2GL PK525HPA-R2GL 15 17 20 23 TH geared PK523P-T All gear ratio − 10 (2.2) (3.3) (3.8) (4.5) (18) PS geared PK523P-PS All gear ratio 45 60 80 100 − 40 (9) PN geared PK523P-N All gear ratio (10.1) (13.5) (18) (22) 110 135 175 250 30 (1.18) Harmonic geared PK523HP-HS All gear ratio − 140 (31) (24) (30) (39) (56)
27 Installation
Permissible radial load [N (lb.)] Distance from the tip of motor output Permissible Frame size Type Motor model Gear ratio shaft [mm (in.)] axial load [mm (in.)] 0 5 10 15 20 [N (lb.)] (0) (0.20) (0.39) (0.59) (0.79) High-resolution PK544PM − type PK546PM PK544P High-torque type − PK546P High-torque type PK544PA-R23L − with encoder PK546PA-R23L PK543AW-R23L Standard type with 20 25 34 52 PK544AW-R23L − − 10 (2.2) encoder (4.5) (5.6) (7.6) (11.7) PK545AW-R23L Standard type with PK543AWM electromagnetic PK544AWM − brake PK545AWM PK543W 2 Installation and connection 2 Installation Standard type PK544W − PK545W 10 14 20 30 TH geared PK543W-T All gear ratio − 15 (3.3) (2.2) (3.1) (4.5) (6.7) 70 80 95 120 5 − 42 (1.65) (15.7) (18) (21) (27) 80 90 110 140 PK545W-PS 7.2 − (18) (20) (24) (31) 85 100 120 150 10 − (19.1) (22) (27) (33) PS geared 120 140 170 210 25 − (27) (31) (38) (47) 130 160 190 240 PK543W-PS 36 − 100 (22) (29) (36) (42) (54) 150 170 210 260 50 − (33) (38) (47) (58) 80 95 120 160 5 − (18) (21) (27) (36) 90 110 130 180 PN geared PK544W-N 7.2 − (20) (24) (29) (40) 100 120 150 200 10 − (22) (27) (33) (45) 180 220 270 360 510 Harmonic geared PK543W-HS All gear ratio 220 (49) (40) (49) (60) (81) (114) PK564PM High-resolution 90 100 130 180 270 PK566PM − type (20) (22) (29) (40) (60) PK569PM PK564AW-R23L Standard type with PK566AW-R23L − encoder PK569AW-R23L 20 (4.5) Standard type with PK564AWM 60 (2.36) 63 75 95 130 190 electromagnetic PK566AWM − (14.1) (16.8) (21) (29) (42) brake PK569AWM PK564W Standard type PK566W − PK569W 70 80 100 120 150 TH geared PK564W-T All gear ratio 40 (9) (15.7) (18) (22) (27) (33)
28 Installation
Permissible radial load [N (lb.)] Distance from the tip of motor output Permissible Frame size Type Motor model Gear ratio shaft [mm (in.)] axial load [mm (in.)] 0 5 10 15 20 [N (lb.)] (0) (0.20) (0.39) (0.59) (0.79) 170 200 230 270 320 5 (38) (45) (51) (60) (72) 200 220 260 310 370 PK566W-PS 7.2 (45) (49) (58) (69) (83) 220 250 290 350 410 10 (49) (56) (65) (78) (92) PS geared 300 340 400 470 560 25 (67) (76) (90) (105) (126) 340 380 450 530 630 PK564W-PS 36 (76) (85) (101) (119) (141) 380 430 500 600 700 50 (85) (96) (112) (135) (157) 200 (45)
240 260 280 300 330 and connection 2 Installation 60 (2.36) 5 (54) (58) (63) (67) (74) 270 290 310 340 370 PK566W-N 7.2 (60) (65) (69) (76) (83) 300 320 350 380 410 10 (67) (72) (78) (85) (92) PN geared 410 440 470 520 560 25 (92) (99) (105) (117) (126) 360 410 480 570 640 PK564W-N 36 (81) (92) (108) (128) (144) 360 410 480 570 700 50 (81) (92) (108) (128) (157) 320 370 440 550 720 Harmonic geared PK564W-HS All gear ratio 450 (101) (72) (83) (99) (123) (162)
Permissible moment load of the Harmonic geared type When installing an arm or table on the flange surface, calculate the moment load using the formula below if the flange surface receives any eccentric load. The moment load should not exceed the permissible value specified in the table. Moment load: M (N·m) = F × L
Permissible moment load L Motor model (N·m) F PK513 0.7 PK523 2.9 PK543 5.6 PK564 11.6
29 Installation
1-5 Installing the driver
Installation direction Mount the driver to a 35 mm (1.38 in.) width DIN rail. Provide 50 mm (1.97 in.) clearances in the horizontal and vertical directions between the driver and enclosure or other equipment within the enclosure. Refer to the figure for the required distances between adjacent drivers when two or more drivers are installed in parallel.
Be sure to install (position) the driver vertically. When the driver is installed in any position other than vertical, the heat radiation effect of the driver will drop.
zz CRD503-KD, CRD507-KD, CRD507H-KD zz CRD514-KD Horizontal direction : Can be placed in contact with Horizontal direction : Provide a clearance of 20 mm each other. (0.79 in.) or more. Vertical direction : Provide a clearance of 50 mm Vertical direction : Provide a clearance of 50 mm (1.97 in.) or more. (1.97 in.) or more. 20 mm (0.79 in.) or more 2 Installation and connection 2 Installation
50 mm (1.97 in.) or more
50 mm (1.97 in.) or more
zz When using the CRD514-KD in parallel with another driver Another unit can be placed in contact with the right side of CRD514-KD. Provide a clearance of 20 mm (0.79 in.) or more on the left side of CRD514-KD where a heat sink is located. 20 mm (0.79 in.) or more
Heat sink
CRD514-KD
Installation method
1. Pull down the DIN lever of the driver and lock it. Hang the hook at the rear to the DIN rail. 2. Hold the driver to the DIN rail, and push up the DIN lever to secure. 3. Secure both sides of the driver using end plates.
Hook
DIN rail DIN rail End plate DIN lever DIN lever
30 Installation
Removing from DIN rail Pull the DIN lever down until it locks using a slotted screwdriver, and lift the bottom of the driver to remove it from the rail. Use a force of about 10 to 20 N (2.2 to 4.5 lb.) to pull the DIN lever down to lock it. Excessive force may damage the DIN lever.
1-6 Installing and wiring in compliance with EMC Directive
Effective measures must be taken against the EMI that the motor and driver may give to adjacent control-system equipment, as well as the EMS of the motor and driver itself, in order to prevent a serious functional impediment in the machinery. The use of the following installation and wiring methods will enable the motor and driver to be compliant with the EMC directive. Refer to p.17 for the applicable standards. Oriental Motor conducts EMC measurements its motors and drivers in accordance with "Example of motor and driver installation and wiring" on p.32. The user is responsible for ensuring the machine’s compliance with the EMC Directive, based on the installation and wiring explained below. and connection 2 Installation
Power supply This products are specifically designed for DC power supply input. Use a DC power supply (such as a switching power supply) compliant with the EMC Directive.
Connecting noise filter for power supply line •• Connect a noise filter in the DC power supply input part to prevent the noise generated in the driver from propagating externally through the power supply line. •• When using a power supply transformer, be sure to connect a noise filter to the AC input side of the power supply transformer. •• For a noise filter, use HF2010A-UPF (SOSHIN ELECTRIC CO., LTD.), FN2070-10-06 (Schaffner EMC) or equivalent product. •• Install the noise filter as close to the AC input terminal of DC power supply as possible. Use cable clamps and other means to secure the input and output cables (AWG18: 0.75 mm2 or more) firmly to the surface of the enclosure. •• Connect the ground terminal of the noise filter to the grounding point, using as thick and short a wire as possible. •• Do not place the AC input cable (AWG18: 0.75 mm2 or more) parallel with the noise filter output cable (AWG18: 0.75 mm2 or more). Parallel placement will reduce noise filter effectiveness if the enclosure’s internal noise is directly coupled to the power supply cable by means of stray capacitance.
Ferrite core If the OPX-2A is used, install ferrite cores. Ferrite cores have the effect of reducing external noise. For a ferrite core, use ZCAT3035-1330 (TDK Corporation) or equivalent product. Install ferrite cores as close to the OPX-2A as possible.
How to ground The cable used to ground the driver and noise filter must be as thick and short as possible so that no potential difference is generated. Choose a large, thick and uniformly conductive surface for the grounding point. Install the motor onto a grounded metal surface.
Wiring the power supply cable and signal cable •• Use a shielded cable of AWG22 (0.3 mm2) or more for the power supply cable, and keep it as short as possible. •• Use a included connector cable for the I/O signals cable, and keep it as short as possible. •• To ground a power supply cable, use a metal clamp or similar device Cable that will maintain contact with the entire circumference of the cable. Cable clamp Attach a cable clamp as close to the end of the cable as possible, and connect it as shown in the figure.
31 Installation
Notes about installation and wiring •• Connect the motor, driver and other peripheral control equipment directly to the grounding point so as to prevent a potential difference from developing between grounds. •• When relays or electromagnetic switches are used together with the system, use noise filters and CR circuits to suppress surges generated by them. •• Keep cables as short as possible without coiling and bundling extra lengths. •• Place the power cables such as the motor and power supply cables as far apart [100 mm (3.94 in.)] as possible from the signal cables. If they have to cross, cross them at a right angle. Place the AC input cable and output cable of a noise filter separately from each other.
Example of motor and driver installation and wiring
RS-485 communication cable
OPX-2A
Driver Motor
2 Installation and connection 2 Installation Ferrite core Shielded cable
Grounding Master Cable/connector controller assembly Noise DC power Motor cable lter supply AC Power supply cable (shielded cable) Grounding Grounding Grounding Grounding Ground panel Grounding
Precautions about static electricity Static electricity may cause the driver to malfunction or suffer damage. While the driver is receiving power, handle the driver with care and do not come near or touch the driver. Always use an insulated slotted screwdriver to adjust the driver’s switches.
The driver uses parts that are sensitive to electrostatic charge. Before touching the driver, turn off the power to prevent electrostatic charge from generating. If an electrostatic charge is impressed on the driver, the driver may be damaged.
32 Connection 2 Connection
This chapter explains how to connect the power supply, driver, motor, I/O signals as well as grounding method.
For protection against electric shock, do not turn on the power supply until the wiring is completed.
••Have the connector plugged in securely. Insecure connector connection may cause malfunction or damage to the motor or driver. ••The CN2/CN4/CN5 connector have a lock mechanism. When removing these connectors, release the connector lock first. Forcibly pulling out the connector without releasing the connector lock may damage the connector. ••To cycle the power or plugging/unplugging the connector, turn off the power and then wait for at least 5 seconds. ••If the motor cable or power supply cable generates an undesirable amount of noise, shield the cable or install a ferrite core. 2 Installation and connection 2 Installation
2-1 Connecting the motor
Applicable product •• Standard type with encoder •• Standard type with electromagnetic brake •• Standard type •• Geared type (CRK543, CRK544, CRK564, CRK566)
Connecting method
1. Connect the included CN4 connector lead wires (5 pins) to the motor connector (CN4) on the driver. 2. Connect the motor lead wires and CN4 connector lead wires. The customer must provide the terminal block, connectors and other items needed to interconnect the lead wires.
Motor connector (CN4)
Blue Blue Red Red Orange Orange Green Green Black Black Motor lead wires CN4 connector lead wires
Keep 10 m (32.8 ft.) or less for the wiring distance between the motor and driver.
33 Connection
CN4 pin assignments
Pin No. Connection destination Pin No. 1 Blue motor lead 1 2 Red motor lead 2 3 3 Orange motor lead 4 4 Green motor lead 5 5 Black motor lead
Composition of CN4 connector lead wires
Connector housing 51103-0500 (Molex) Contact 50351-8000 (Molex) Crimping tool 63811-8100 (Molex) Applicable lead size AWG22 (0.3 mm2) 2 Installation and connection 2 Installation 2-2 Connecting the connector-type motor
Applicable product •• High-resolution type •• High-torque type •• High-torque type with encoder •• Geared type (CRK513P, CRK523P)
Connecting method
1. Connect the included CN4 connector lead wires (5 pins) to the motor connector (CN4) on the driver. 2. Connect the included motor connector lead wires (5 pins) to the motor. 3. Connect the motor connector lead wires and CN4 connector lead wires. The customer must provide the terminal block, connectors and other items needed to interconnect the lead wires.
Connector-type motor Motor connector (CN4)
Blue Blue Red Red Orange Orange Green Green Black Black Motor connector CN4 connector lead wires lead wires
Keep 10 m (32.8 ft.) or less for the wiring distance between the motor and driver.
34 Connection
Connector pin assignments of connector-type motor
Pin No. Description 1 1 Blue motor lead D A 2 Red motor lead 5 2 3 Orange motor lead B C 4 Green motor lead 4 E 3 5 Black motor lead Pin No. 5 4 321
Composition of motor connector lead wires
Frame size [mm (in.)] 20 (0.79) for CRK51 ø22 (0.87) for CRK51 42 (1.65) for CRK54 60 (2.36) for CRK56 28 (1.10) for CRK52 Connector housing 51065-0500 (Molex) 51103-0500 (Molex) 51144-0500 (Molex) 2 Installation and connection 2 Installation Contact 50212-8100 (Molex) 50351-8100 (Molex) 50539-8100 (Molex) Crimping tool 63819-0500 (Molex) 63811-8100 (Molex) 63811-8300 (Molex) Applicable lead size AWG24 (0.2 mm2) AWG22 (0.3 mm2) AWG22 (0.3 mm2)
••When connecting a motor, attach the cable in such a way as to prevent the connection point from receiving stress due to flexing of the cable. Make the cable's radius of curvature as large as possible. ••When disconnecting the connector from the connector type motor, pull the connector horizontally along the output shaft to remove. The motor may be damaged if force is applied in any other direction. ••The cable/connector assembly that comes with the following products has a connector with a lock mechanism. When removing these types of cables, release the connector lock first. Forcibly pulling out the cable without releasing the connector lock may damage the motor and connector. · High-resolution type CRK54, CRK56 2. Pull out the cable · High-torque type CRK54 horizontally. · High-torque type with encoder CRK54 1. Release the lock.
35 Connection
2-3 Connecting the electromagnetic brake
Connecting the power supply for electromagnetic brake The electromagnetic brake operates via the ON/OFF status of the DC power supply. Provide a DC power supply of 24 VDC±5% 0.08 A or more for the CRK54, or 24 VDC±5% 0.25 A or more for the CRK56, for use exclusively for the electromagnetic brake. Use a shielded cable of AWG24 (0.2 mm2) or more to connect the electromagnetic brake to the DC power supply, keeping the length as short as possible.
Connecting method Connect two lead wires [600 mm (23.6 in.)] from the motor to the DC power supply. 1. Connect the red/white lead to the +24 VDC terminal of the DC power supply, and connect the black/white lead to the GND terminal. 2. Connect the varistor (included) in parallel between the +24 VDC terminal and the GND terminal. The varistor does not have polarity. Black/white 2 Installation and connection 2 Installation Red/white Varistor Motor Switch
24 VDC
••Applying a voltage over the specification will increase the temperature rise in the electromagnetic brake and may damage the motor. Conversely, insufficient voltage may prevent the brake from releasing. ••Be sure to connect the varistor to protect the switch contacts and prevent noise. ••The lead wires for the electromagnetic brake are polarized. Connecting the lead wires in reverse polarity will not properly operate the electromagnetic brake. ••Provide separate power supplies for the I/O signals and the electromagnetic brake.
Operating the electromagnetic brake Operate the electromagnetic brake as follows: 1. Turn on the driver power and switch ON the excitation to excite the motor. 2. Before inputting operation commands, turn on the electromagnetic brake power and release the electromagnetic brake. The motor is now ready to run. 3. When holding the load in position using the electromagnetic brake following motor operation, turn off the electromagnetic brake power after confirming that the motor has stopped.
Apply the electromagnetic brake only after the motor has stopped. Do not use the brake to bring the moving motor to a halt. Repeated braking for such a purpose will wear the brake hub excessively, causing a decrease in its ability to hold.
36 Connection
2-4 Connecting the power supply and grounding the driver
Use the included CN1 connector (3 pins) to connect the power supply cable (AWG22: 0.3 mm2) to the power supply connector (CN1) on the driver.
••When connecting, check the silk screen of the driver and pay attention to the polarity of the power supply. Reverse-polarity connection may cause damage to the driver. The power-supply circuit and the RS-485 communication circuit are not insulated. Therefore, when controlling multiple drivers via RS-485 communication, the reverse polarity of the power supply will cause a short circuit and may result in damage to the drivers. ••Do not wire the power supply cable of the driver in the same cable duct with other power line or motor cable. Doing so may cause malfunction due to noise.
Power supply current capacity Use a power supply that can supply the current capacity below.
Driver model Input power supply voltage Current capacity CRD503-KD 0.7 A or more CRD507-KD and connection 2 Installation +24 VDC±10% 1.4 A or more CRD507H-KD CRD514-KD 2.5 A or more
Grounding the driver Ground the driver’s Frame Ground Terminal (FG) as CN1 connector necessary. 2 Ground using a wire of AWG24 to 16 (0.2 to 1.25 mm ), 24 VDC power supply and do not share the protective earth terminal with a GND welder or any other power equipment.
Grounding Power supply connector (CN1)
CN1 pin assignments
Pin No. Name Description 1 +24 VDC +24 VDC power supply input 2 GND Power supply GND 3 FG Frame Ground
Connecting method
1. Strip the insulation cover of the lead wire by 7 mm (0.28 in.) 2. Insert each lead wire into the CN1 connector and tighten the screws using a slotted screwdriver. 3. Insert the CN1 connector into CN1 and tighten the screws using a slotted screwdriver.
Connector screw size: M2 CN1 7 mm Tightening torque: (0.28 in.) 0.22 to 0.25 N·m (31 to 35 oz-in)
CN1 connector Connector screw size: M2.5 Lead wires Tightening torque: 0.4 N·m (56 oz-in)
37 Connection
2-5 Connecting the I/O signals
Connect the included CN2 connector cable (40 pins) to the I/O signals connector (CN2) on the driver. CN2 connector cable
CN2 pin assignments
Brown-1 (A1)
• • 2 Installation and connection 2 Installation Upper ribbon cable • B1 A1 • • Black-2 (A20)
Brown-3 (B1)
• B20 A20 • Lower ribbon cable • • • Black-4 (B20)
Lead wire Upper ribbon cable Lead wire Lower ribbon cable color Pin No. Signal name Description color Pin No. Signal name Description Brown-1 A1 IN-COM0 Input common Brown-3 B1 MOVE+ Motor moving output Red-1 A2 START Start input Red-3 B2 MOVE− Orange-1 A3 ALM-RST Alarm reset input Orange-3 B3 ALM+ Alarm output Yellow-1 A4 AWO All windings off input Yellow-3 B4 ALM− Green-1 A5 STOP Stop input Green-3 B5 OUT1+ Control output 1 Blue-1 A6 M0 Blue-3 B6 OUT1− (initial value: AREA) * Purple-1 A7 M1 Purple-3 B7 OUT2+ Control output 2 Gray-1 A8 M2 Gray-3 B8 OUT2− (initial value: READY) * Data selection input White-1 A9 M3 White-3 B9 OUT3+ Control output 3 Black-1 A10 M4 Black-3 B10 OUT3− (initial value: WNG) * Brown-2 A11 M5 Brown-4 B11 OUT4+ Control output 4 HOME/ Return-to-home/ Red-2 A12 Red-4 B12 OUT4− (initial value: HOME-P) * P-PRESET Position preset input Orange-2 A13 FWD Forward input Orange-4 B13 N.C. Not used Yellow-2 A14 RVS Reverse input Yellow-4 B14 N.C. Not used Green-2 A15 +LS +limit sensor input Green-4 B15 PLS-OUT+ Pulse output Blue-2 A16 −LS −limit sensor input Blue-4 B16 PLS-OUT− (Line driver output) Mechanical home Purple-2 A17 HOMES Purple-4 B17 DIR-OUT+ sensor input Direction output (Line driver output) Gray-2 A18 SLIT Slit sensor input Gray-4 B18 DIR-OUT− White-2 A19 N.C. Not used White-4 B19 GND GND Black-2 A20 IN-COM1 Sensor input common Black-4 B20 N.C. Not used
** These settings can be changed using the “OUT1 signal mode selection” to “OUT4 signal mode selection” parameters.
38 Connection
Connecting to a current sink output circuit
Controller Driver +24 VDC IN-COM0 A1 START 4.4 kΩ 1 kΩ A2
ALM-RST 4.4 kΩ 1 kΩ A3
AWO 4.4 kΩ 1 kΩ A4
STOP 4.4 kΩ 1 kΩ A5
M0 4.4 kΩ 1 kΩ A6
M5 4.4 kΩ 1 kΩ A11
HOME/P-PRESET 4.4 kΩ 1 kΩ A12 2 Installation and connection 2 Installation
FWD 4.4 kΩ 1 kΩ A13
RVS 4.4 kΩ 1 kΩ A14
0 V +24 VDC or less
R0 20 mA or less B1 MOVE B2 R0 B3 ALM B4 R0 B5 OUT1 B6
R0 B11 OUT4 B12 0 V B15 PLS-OUT B16 26C31 equivalent B17 DIR-OUT B18 GND B19 0 V0 V * +24 VDC IN-COM1 A20 +LS, -LS, HOMES, SLIT 4.4 kΩ 1 kΩ Sensor A15 to A18
0 V
** The GND line is used in common with CN1 (not insulated).
••Use input signals at 24 VDC. ••Use output signals at 24 VDC 20 mA or less. If the current exceeds 20 mA, connect an external resistor R0. ••The PLS-OUT output and DIR-OUT output are line driver outputs. When connecting a line receiver, be sure to connect pin No.B19 on the driver to the GND on the line receiver, and connect a terminal resistor of 100 Ω or more between the driver and the input of the line receiver.
39 Connection
Connecting to a current source output circuit
Controller Driver
+24 VDC IN-COM0 A1 0 V START 4.4 kΩ 1 kΩ A2
ALM-RST 4.4 kΩ 1 kΩ A3
AWO 4.4 kΩ 1 kΩ A4
STOP 4.4 kΩ 1 kΩ A5
M0 4.4 kΩ 1 kΩ A6
M5 4.4 kΩ 1 kΩ A11
2 Installation and connection 2 Installation HOME/P-PRESET 4.4 kΩ 1 kΩ A12
FWD 4.4 kΩ 1 kΩ A13
RVS 4.4 kΩ 1 kΩ A14 +24 VDC or less 20 mA or less B1 R0 MOVE B2 B3 R0 ALM B4 B5 R0 OUT1 B6
B11 R0 OUT4 B12
0 V B15 PLS-OUT B16 26C31 equivalent B17 DIR-OUT B18 GND B19 0 V0 V *
IN-COM1 Sensor +24 VDC A20 0 V +LS, -LS, HOMES, SLIT 4.4 kΩ 1 kΩ A15 to A18
** The GND line is used in common with CN1 (not insulated).
••Use input signals at 24 VDC. ••Use output signals at 24 VDC 20 mA or less. If the current exceeds 20 mA, connect an external resistor R0. ••The PLS-OUT output and DIR-OUT output are line driver outputs. When connecting a line receiver, be sure to connect pin No.B19 on the driver to the GND on the line receiver, and connect a terminal resistor of 100 Ω or more between the driver and the input of the line receiver.
40 Connection
2-6 Connecting the data setter
Connect the communication cable for the support software or OPX-2A cable to the data edit Communication cable for the support connector (CN3) on the driver. software or OPX-2A cable
Data edit connector (CN3)
The driver's power supply connector (CN1), I/O connector (CN2), data edit connector (CN3) and RS-485 communication connectors (CN6/CN7) are not electrically insulated. When grounding the positive terminal of the power supply, do not connect any equipment (PC, etc.) whose negative terminal is grounded. Doing so may cause the driver and PC to short, damaging both.
2-7 Connecting the encoder 2 Installation and connection 2 Installation
The color of the lead wire for the motor varies depending on the motor frame size. Check the motor used before connecting.
42 mm, 60mm Connect the encoder lead wires to the encoder connector (CN5) on the driver using the CN5 connector lead wires (9 pins). The CN5 connector lead wires (9 pins) is included with the motor with encoder and driver package. When extending the lead wires, use shielded cable of AWG24 to 22 (0.2 to 0.3 mm2). Refer to p.86 for the detailed specification of this encoder. Encoder connector (CN5)
Red Red Pink Brown Green Green Blue Blue Yellow Yellow Orange Orange White White Black Black Shield Purple Encoder lead wires CN5 connector lead wires
Keep 10 m (32.8 ft.) or less for the wiring distance between the motor and driver.
41 Connection
zz CN5 pin assignments
Pin No. Signal name Description Connection destination Pin No.1 1 ENC-A+ Encoder input A-phase Red encoder lead 2 2 ENC-A− (Line receiver) Pink encoder lead 3 3 ENC-B+ Encoder input B-phase Green encoder lead 4 5 4 ENC-B− (Line receiver) Blue encoder lead 6 5 ENC-Z+ Encoder input Z-phase Yellow encoder lead 7 6 ENC-Z− (Line receiver) Orange encoder lead 8 +5 VDC power supply 9 7 +5 VDC OUT White encoder lead output for encoder 8 GND GND Black encoder lead 9 SHIELD Shield (Connect to GND) Shield lead
zz Composition of CN5 connector lead wires
Connector housing 51103-0900 (Molex)
2 Installation and connection 2 Installation Contact 50351-8000 (Molex) Crimping tool 63811-8100 (Molex) Applicable lead size AWG22 (0.3 mm2)
zz Internal circuit diagram
5 VDC
ENC-A+ 3.3 kΩ ENC-B+ 26C32 equivalent ENC-Z+ 330 Ω ENC-A- ENC-B- ENC-Z- 5 VDC 3.3 kΩ 5 V OUT 0 V * GND SHIELD Output current 150 mA or less 0 V *
** The GND line is used in common with CN1 (not insulated).
The current consumption of the encoder power supply should be kept to 150 mA or less. When you are providing the encoder on your own, take note that if the encoder power consumption exceeds 150 mA, an encoder power supply must be provided externally to the system. In this case, be sure to use a common GND line for the encoder power supply and encoder connector (CN5).
42 Connection
20 mm, 28mm Connect with the included encoder connector lead wires. When extending the lead wires, use a shielded cable of AWG24 to 22 (0.2 to 0.3 mm2). Refer to p.86 for the detailed specification of this encoder. 1. Connect the included CN5 connector lead wires (9 pins) to the encoder connector (CN5) on the driver. 2. Connect the included encoder connector lead wires (8 pins) to the encoder. 3. Connect the CN5 connector lead wires and encoder connector lead wires. The customer must provide the terminal block, connectors and other items needed to interconnect the lead wires.
Connector-type encoder Encoder connector (CN5) Red Red Brown Brown Green Green Blue Blue Yellow Yellow
Orange Orange White White
Black Black and connection 2 Installation Purple Connect to shield or insulate. Encoder connector CN5 connector lead wires lead wires
Keep 10 m (32.8 ft.) or less for the wiring distance between the motor and driver.
zz Composition of encoder connector lead wires
Connector housing 51021-0800 (Molex) Contact 50079-8000 (Molex) Crimping tool 63819-0300 (Molex) Applicable lead size AWG26 (0.14 mm2)
zz CN5 pin assignments and composition of CN5 connector lead wires Refer to p.41.
43 Connection
2-8 Connecting the RS-485 communication cable
Connect this cable if you want to control your product Drivers can be linked. via RS-485 communication. Connect RS-485 communication cable to CN6 or CN7 on the driver. You can use the vacant connectors to connect a different driver. Accessories driver link cables are available. See p.182. You can also use a commercial LAN cable (straight cable) RS-485 communication to link drivers. connectors (CN6/CN7)
2 Installation and connection 2 Installation CN6/CN7 pin assignments
Pin No. Signal name Description 1 N.C. 2 GND 1 N.C. Not used 3 TR+ 2 GND GND 4 N.C. 5 N.C. RS-485 communication 6 TR- 3 TR+ signal (+) 7 N.C. 8 N.C. 4 N.C. Not used 5 N.C. Not used 1 N.C. RS-485 communication 2 GND 6 TR− SW3 signal (−) 3 TR+ 4 N.C. 120 Ω 7 N.C. Not used 5 N.C. 8 N.C. Not used 6 TR- 7 N.C. 8 N.C. 0 V *
** The GND line is used in common with CN1 (not insulated).
44 Explanation of I/O signals 3 Explanation of I/O signals
3-1 Input signals
Following input signals of the driver are photocoupler inputs. The signal state represents the “ON: Carrying current” or “OFF: Not carrying current” state of the internal photocoupler. IN-COM0, START, ALM-RST, AWO, STOP M0 to M5, HOME/P-PRESET, FWD, RVS IN-COM1, +LS, -LS, HOMES, SLIT Driver internal circuit Driver internal circuit A1 A20 4.4 kΩ 1 kΩ 4.4 kΩ 1 kΩ A2 to A14 A15 to A18 2 Installation and connection 2 Installation AWO input This signal is used to cut off the motor current (factory setting: normally open). When the AWO input is turned ON, the motor current will be cut off and the motor will lose its holding torque. When the AWO input is turned OFF, current will be supplied to the motor and holding torque will be restored. You can change the input logic using the “AWO contact configuration” parameter.
ON AWO input *1 OFF 6 ms or less 6 ms or less *2 ON READY output OFF 6 ms or less 6 ms or less
Motor excitation command Excitation Not excitation Excitation
*1 When the AWO input logic is normally open. *2 If the “Stepout detection” parameter is set to “enable,” this period becomes 500 ms or less. If the parameter is set to “disable,” the period becomes 6 ms or less.
START input Turn the START input from OFF to ON to start positioning operation. 4 ms or more 4 ms or more ON START input OFF 4 ms 4 ms or more or more 4 ms or more ON M0 to M5 input OFF 0 ms or more6 ms or less 6 ms or less ON READY output OFF 6 ms or less 6 ms or less ON MOVE output OFF
Motor operation command
45 Explanation of I/O signals
STOP input The STOP input is used to stop the operating motor (factory setting: normally closed). The STOP input turns OFF, the motor will stop. This input is normally closed, meaning that it is OFF when the power is turned on. You can set a desired stopping operation using the “STOP action” parameter.
Stop operation Description The motor will stop immediately regardless of the specified Immediate stop deceleration rate. The motor will stop according to the specified deceleration rate (initial Deceleration stop value). The motor will stop immediately regardless of the specified Immediate stop + motor is not excited deceleration rate, after which the motor excitation will be turned off. The motor will stop according to the specified deceleration rate, after Deceleration stop + motor is not excited which the motor excitation will be turned off.
The deceleration rate that applies when the motor decelerates to a stop in positioning operation or continuous operation can be set as follows using the “Acceleration (deceleration) rate type” parameter: Separate: The deceleration rate set under the applicable operation data number will be followed. Common: The setting of the “Common deceleration rate” parameter will be followed. 2 Installation and connection 2 Installation If the STOP input is normally closed, be sure to turn this input ON when operating the motor.
zz When the STOP stopping method is immediate stop or deceleration stop. 4 ms or more ON STOP input *1 OFF 0 ms or more 4 ms or more ON START input OFF 6 ms or less 6 ms or less ON READY output OFF 6 ms or less ON MOVE output OFF *2 *3
Motor operation command
Motor excitation command Excitation
*1 When the STOP input logic is normally closed. *2 The specific time ariesv depending on the command speed. *3 The specific period varies depending on the setting of the “STOP action” parameter.
46 Explanation of I/O signals
zz When the STOP stopping method is immediate stop + motor is not excited or deceleration stop + motor is not excited. 4 ms or more ON STOP input *1 OFF 0 ms or more 4 ms or more ON START input OFF 6 ms or less *2 6 ms or less ON READY output OFF 6 ms or less ON MOVE output OFF *3 *4
Motor operation command 6 ms or less 6 ms or less Not 2 Installation and connection 2 Installation Motor excitation command Excitation excitation Excitation
*1 When the STOP input logic is normally closed. *2 If the “Stepout detection” parameter is set to “enable”, this period becomes 500 ms or less. If the parameter is set to “disable”, the period becomes 6 ms or less. *3 The specific time ariesv depending on the command speed. *4 The specific period varies depending on the setting of the “STOP action” parameter.
M0 to M5 input Select a desired operation data number for positioning operation or continuous operation based on a combination of ON/OFF states of M0 to M5 inputs. The ON/OFF status should be held until an operation based on the selected operation data No. is executed.
Operation Operation M5 M4 M3 M2 M1 M0 M5 M4 M3 M2 M1 M0 data No. data No. Sequential operation OFF OFF OFF OFF OFF OFF 22 OFF ON OFF ON ON OFF 1 OFF OFF OFF OFF OFF ON 23 OFF ON OFF ON ON ON 2 OFF OFF OFF OFF ON OFF 24 OFF ON ON OFF OFF OFF 3 OFF OFF OFF OFF ON ON 25 OFF ON ON OFF OFF ON 4 OFF OFF OFF ON OFF OFF 26 OFF ON ON OFF ON OFF 5 OFF OFF OFF ON OFF ON 27 OFF ON ON OFF ON ON 6 OFF OFF OFF ON ON OFF 28 OFF ON ON ON OFF OFF 7 OFF OFF OFF ON ON ON 29 OFF ON ON ON OFF ON 8 OFF OFF ON OFF OFF OFF 30 OFF ON ON ON ON OFF 9 OFF OFF ON OFF OFF ON 31 OFF ON ON ON ON ON 10 OFF OFF ON OFF ON OFF 32 ON OFF OFF OFF OFF OFF 11 OFF OFF ON OFF ON ON 33 ON OFF OFF OFF OFF ON 12 OFF OFF ON ON OFF OFF 34 ON OFF OFF OFF ON OFF 13 OFF OFF ON ON OFF ON 35 ON OFF OFF OFF ON ON 14 OFF OFF ON ON ON OFF 36 ON OFF OFF ON OFF OFF 15 OFF OFF ON ON ON ON 37 ON OFF OFF ON OFF ON 16 OFF ON OFF OFF OFF OFF 38 ON OFF OFF ON ON OFF 17 OFF ON OFF OFF OFF ON 39 ON OFF OFF ON ON ON 18 OFF ON OFF OFF ON OFF 40 ON OFF ON OFF OFF OFF 19 OFF ON OFF OFF ON ON 41 ON OFF ON OFF OFF ON 20 OFF ON OFF ON OFF OFF 42 ON OFF ON OFF ON OFF 21 OFF ON OFF ON OFF ON 43 ON OFF ON OFF ON ON
47 Explanation of I/O signals
Operation Operation M5 M4 M3 M2 M1 M0 M5 M4 M3 M2 M1 M0 data No. data No. 44 ON OFF ON ON OFF OFF 54 ON ON OFF ON ON OFF 45 ON OFF ON ON OFF ON 55 ON ON OFF ON ON ON 46 ON OFF ON ON ON OFF 56 ON ON ON OFF OFF OFF 47 ON OFF ON ON ON ON 57 ON ON ON OFF OFF ON 48 ON ON OFF OFF OFF OFF 58 ON ON ON OFF ON OFF 49 ON ON OFF OFF OFF ON 59 ON ON ON OFF ON ON 50 ON ON OFF OFF ON OFF 60 ON ON ON ON OFF OFF 51 ON ON OFF OFF ON ON 61 ON ON ON ON OFF ON 52 ON ON OFF ON OFF OFF 62 ON ON ON ON ON OFF 53 ON ON OFF ON OFF ON 63 ON ON ON ON ON ON
FWD input, RVS input When the FWD input turns ON, the motor will perform continuous operation in the + direction. When the RVS input turns ON, the motor will perform continuous operation in the − direction. 2 Installation and connection 2 Installation The FWD input and RVS input are operated at the operating speed of the selected operation No. If the FWD input and RVS input are both ON simultaneously, the motor decelerates to a stop. When the operation data number is changed during continuous operation, the speed will change to the one specified for the new operation data number.
FWD input ON (RVS input) OFF ON M0 to M5 input OFF 0 ms or more 6 ms or less ON READY output OFF 6 ms or less ON MOVE output OFF * *
Motor operation command
** The specific time ariesv depending on the command speed.
48 Explanation of I/O signals
HOME/P-PRESET input Factory setting is HOME input. Switch between HOME input and P-PRESET input using the “HOME/P-PRESET input switching” parameter. zz HOME input The return-to-home operation starts when the HOME input turns ON. Example: Return-to-home operation in the 3-sensor mode 4 ms or more ON HOME input OFF
ON HOMES input OFF 6 ms or less ON READY output OFF 6 ms or less ON MOVE output OFF 2 Installation and connection 2 Installation
HOME-P output ON OFF
Motor operation command
zz P-PRESET input When the P-PRESET input is turned ON, the value in the “Preset position” parameter will be overwritten by the command position.
Perform the preset operation while the motor is stopped.
4 ms or more ON P-PRESET input OFF 6 ms or less Preset position becomes eective Command position 6 ms or less ON HOME-P output * OFF
** When the “Preset position” parameter is set to “0.”
49 Explanation of I/O signals
ALM-RST input When an alarm generates, the ALM output will turn OFF and motor will stop. When the ALM-RST input is turned from ON to OFF, the ALM output will turn ON and the alarm will be reset. (The alarm will be reset at the OFF edge of the ALM-RST input.) Always reset an alarm after removing the cause of the alarm and after ensuring safety. For details, refer to "ALM output" on p.51, and "2-1 Alarms" on p.175.
Some alarms cannot be reset with the ALM-RST input. To reset these alarms, the power must be cycled.
zz Resetting the alarm
An alarm generates. 4 ms or more ON ALM-RST input OFF 6 ms or less 1 s or more 6 ms or less ON ALM output *1 OFF 6 ms or less 6 ms or less *3 ON READY output 2 Installation and connection 2 Installation OFF 6 ms or less 6 ms or less
Motor excitation command *2 Excitation Not excitation Excitation
*1 The ALM output normally closed. This output remains ON in a normal state, and will turn OFF if an alarm generates. *2 Assuming generation of an alarm that stops motor excitation. *3 If the “Stepout detection” parameter is set to “enable,” this period becomes 500 ms or less. If the parameter is set to “disable,” the period becomes 6 ms or less. zz Limit sensor input (when the limit sensor is normally open) +LS input ON -LS input OFF 4 ms or more ON ALM-RST input OFF 6 ms or less 1 s or more 6 ms or less ON ALM output * OFF 6 ms or less 6 ms or less ON READY output OFF
** The ALM output is normally closed. This output remains ON in a normal state, and will turn OFF if an alarm generates.
+LS input, −LS input These signals are input from the applicable limit sensors. They are used to detect the home during return-to-home operation. In any other operation, these signals are used to stop the motor. You can switch the input logics for +LS input and −LS input using the “LS contact configuration” parameter. Take note, however, that only the same input logics can be set for both signals. See p.70 for details on the return-to-home operation.
If the +LS and −LS inputs are to be used in an operation other than return-to-home, set the "Hardware overtravel detection" parameter to "enable."
HOMES input These signals are input from the applicable HOME sensors. This input detects the mechanical home position when a return-to-home operation is executed in the 3-sensor mode. You can switch the input logic for HOMES input using the “HOMES contact configuration” parameter. See p.70 for details on the return-to-home operation.
50 Explanation of I/O signals
SLIT input This signal is used to detect the home using a slit disc, etc. When detecting the home, use of the SLIT input in addition to the HOMES input and ±LS inputs will increase the accuracy of home detection. You can switch the input logic for SLIT input using the “SLIT contact configuration” parameter.
If the SLIT input is used, set the "SLIT detection with home-seeking" parameter to "enable."
IN-COM0 input This is a common terminal for input signals.
IN-COM1 input This is a common terminal for the sensors.
Use sensor input signals at 24 VDC±10%.
3-2 Output signals and connection 2 Installation
The driver outputs signals in the photocoupler/open-collector output mode or line driver output mode. The signal state represents the “ON: Carrying current” or “OFF: Not carrying current” state of the internal photocoupler. MOVE, ALM, OUT1 to OUT4 PLS-OUT, DIR-OUT, GND Driver internal circuit Driver internal circuit 20 mA or less B15, B17 26C31 B1, B3, B5, B7, B9, B11 B16, B18 equivalent B19 B2, B4, B6, B8, B10, B12 0 V *
** The GND line is used in common with CN1 (not insulated).
MOVE output The MOVE output becomes ON while operating the motor or return-to-home operation. Even when the current operation has completed, the next operation cannot be started while the MOVE output is ON. 4 ms or more ON START input OFF 6 ms or less 6 ms or less 6 ms or less ON MOVE output OFF
Motor operation command
Even when positioning operation ends, the MOVE output will not turn OFF as long as the START input remains ON.
ALM output The ALM output is normally closed. When an alarm generates, the ALM output will turn OFF. At the same time, the ALARM LED of the driver will blink and the motor will stop. Set the host controller so that it will stop motor operation commands upon detection of an OFF status of the ALM output. You can check the cause of the alarm by counting the number of times the ALARM LED blinks. For details, refer to p.176.
51 Explanation of I/O signals
OUT1 to OUT4 output The “OUT1 signal mode selection” to “OUT4 signal mode selection” parameters are used to set the desired functions to be assigned to the OUT1 to OUT4 outputs, respectively. The following output signals can be assigned: •• AREA output (area output): Default for OUT1 output •• TIM output (timing output) •• READY output (operation ready complete output): Default for OUT2 output •• WNG output (warning output): Default for OUT3 output •• HOME-P output (return-to-home ready complete output): Default for OUT4 output •• ZSG output (Z-phase pulse output) •• R-OUT1 output (remote output 1) •• R-OUT2 output (remote output 2) •• R-OUT3 output (remote output 3) •• R-OUT4 output (remote output 4) •• O.H. output (overheat output) •• STEPOUT output (misstep detection output)
AREA output The AREA output can be assigned to a control output. This signal will be output when the motor output shaft is inside the area set by the “Area 1” and “Area 2” parameters. 2 Installation and connection 2 Installation This signal is also output while the motor is stopped.
If the AREA output is to be used during operation, set the width of the area so that the AREA output will remain ON for at least 1 ms. If the AREA output remains ON for less than 1 ms, the AREA output may not actually turn ON.
"Area 2" setting "Area 1" setting
When Area 1 > Area 2 ON AREA output OFF When Area 1 < Area 2 ON AREA output OFF
•• When the area 1 boundary is greater in position coordinate than the area 2 boundary: The AREA output turns ON when the output shaft is positioned at or after the area 2 boundary or at or before the area 1 boundary. •• When the area 1 boundary is smaller in position coordinate than the area 2 boundary: The AREA output turns ON when the output shaft is positioned at or before the area 1 boundary or at or after the area 2 boundary. •• The area 1 is the same as the area 2 boundary: The AREA output turns ON only when the output shaft is at the specified position. When the area 1 boundary is greater in position coordinate than the area 2 boundary
"Area 2" setting "Area 1" setting
ON M0 to M5 input OFF ON START input OFF ON MOVE output OFF ON AREA output OFF
Motor operation command
52 Explanation of I/O signals
TIM output The TIM output can be assigned to a control output. This signal turns ON when the motor is at its excitation home. If the base step angle of the motor is 0.72°, the TIM output will turn ON every time the motor moves by 7.2° from its excitation home in synchronization with the internal oscillation pulse. 11020 ON Internal oscillation pulse OFF Motor output shaft rotates by 7.2° ON TIM output OFF Step 0 1234567890123456789012
Motor operation command Operation
Number of divisions Motor type TIM output 1 10 Motor with 0.72°/step base step angle 0.72° 0.072° every 7.2° 2 Installation and connection 2 Installation Motor with 0.36°/step base step angle 0.36° 0.036° every 3.6° Geared motor with 7.2 gear ratio 0.1° 0.01° every 1°
••The TIM output delays behind motor movement by up to 3 ms. The output may be used to verify the stop position of the motor. ••If the TIM output is to be used during operation, set the motor operating speed to 500 Hz or below. If the motor is operated at speeds faster than 500 Hz, this signal will not be output correctly.
READY output The READY output can be assigned to a control output. This signal will be output when the driver becomes ready. Start operation after the READY output has turned ON. The READY output remains OFF in the following conditions: •• The motor is operating. •• An alarm is present. •• Any one of the FWD input, RVS input, HOME input and START input is ON. •• The AWO input is ON (normally open). •• The STOP input is OFF (normally closed). •• The system is performing test operation, downloading data or being initialized via the MEXE02. •• The system is operating in the test mode or copy mode via the OPX-2A. •• The motor is not excited. •• Immediately after the power was turned on.
WNG output The WNG output can be assigned to control output. This signal is output when a warning generates. However, the operation will continue. The WNG output will turn OFF automatically once the cause of the warning is removed. Warning Generation 10 ms or less 10 ms or less
ON WNG output OFF
53 Explanation of I/O signals
HOME-P output The HOME-P output can be assigned to a control output. This signal is output upon completion of return-to-home. It will turn ON when all of the following conditions are satisfied: •• The home is already set •• The command position has become 0 •• The motor is stopped The home can be set by the following methods: •• Successful completion of return-to-home operation •• Effecting the preset position •• Clearing the counter via RS-485 communication The home will be cancelled when either of the following operations is performed: •• Cycle the power. •• Stop the motor excitation (when the “Stepout detection” parameter is set to “disable”)
ZSG output The ZSG output can be assigned to a control output. This signal is used when an encoder is connected. The ZSG output signal is output when the ENC-Z input signal is
2 Installation and connection 2 Installation input to the CN5 from the encoder. Normally the ENC-Z input signal is input every time the motor output shaft turns one revolution.
••The ZSG output signal will not be output correctly unless the ENC-Z input remains ON for at least 1 ms. ••The ZSG output delays behind motor movement by up to 3 ms. The output may be used to verify the stop position of the motor.
R-OUT1 to R-OUT4 output These signals are general outputs. These signals are used when the system is controlled via RS-485 communication. The figure shows a timing chart that assumes controls according to GW Protocol Version 1. T2 (response period)
Master Frame * Communication Slave Frame 3 ms or less ON R-OUT1 to R-OUT4 output OFF
** Frame containing the “Remote output” command
O.H. output The O.H. output can be assigned to a control output. If an overheat warning generates, the O.H. output turns ON. The O.H. output will automatically turn OFF upon recovery from the warning condition. Overheat warning Generation 10 ms or less 10 ms or less
ON O.H. output OFF
54 Explanation of I/O signals
STEPOUT output The STEPOUT output can be assigned to a control output. This signal becomes effective when an encoder is connected, and a deviation error occurs. This signal will be output when the deviation between the encoder counter value and driver command position reaches the value set in the “Stepout detection band” parameter. If the STEPOUT output is to be used, set the “Stepout detection” parameter to “enable.” For misstep, refer to p.87.
Deviation normal Deviation abnormal Deviation condition 6 ms or less
ON STEPOUT output OFF
••While the motor is not excited, the STEPOUT output is always OFF. The signal will become effective once the motor has remained excited for at least 500 ms. ••The STEPOUT output remains OFF during return-to-home operation.
PLS-OUT output, DIR-OUT output
The PLS-OUT output is used to output the driver’s internal oscillation pulses. The number of pulses to be output and connection 2 Installation corresponds to the commanded travel. The pulse frequency corresponds to the operating speed. The maximum output frequency is 500 kHz. The DIR-OUT output is used to output the driver’s internal direction command. 10 µs or more 10 µs or more 10 µs or more
PLS-OUT+ output 10 µs or more
PLS-OUT- output
DIR-OUT+ output
DIR-OUT- output
CW Motor operation command CCW
The PLS-OUT output and DIR-OUT output are line driver outputs. When connecting to a line receiver, be sure to connect pin No. B19 of CN2 with the GND line of the line receiver. Also connect a terminal resistor of 100 Ω or more between the line receiver inputs.
••Connect to line receiver ••Connect to photocoupler Receiving side Driver Receiving side Driver 26C31 26C31 PLS-OUT+ equivalent PLS-OUT+ equivalent B15 B15 PLS-OUT- PLS-OUT- B16 B16 DIR-OUT+ B17 DIR-OUT+ DIR-OUT- B17 B18 DIR-OUT- B18 B19 0 V0 V * B19 0 V *
** The GND line is used in common with CN1 (not insulated)
55 2 Installation and connection 2 Installation
56 3 Operation type and setting
This part explains the operation functions and the details of parameters.
Table of contents
1 Adjustment and setting...... 58 4-2 I/O parameter...... 81 1-1 Step angle...... 58 4-3 Motor parameter...... 82 1-2 Operating current...... 58 4-4 Speed parameter...... 82 1-3 Standstill current...... 59 4-5 Return-to-home parameter...... 83 1-4 Acceleration/deceleration rate...... 59 4-6 Alarm/warning parameter...... 83 4-7 Common parameter...... 84 2 Operation...... 60 4-8 Operation setting parameter...... 84 2-1 Positioning operation...... 61 4-9 Communication parameter...... 85 2-2 Return-to-home operation...... 70 2-3 Continuous operation...... 75 5 Related functions...... 86 2-4 Other operation...... 77 5-1 Position control...... 86 5-2 Encoder input...... 86 3 Operation data...... 79 5-3 Misstep detection function...... 87 4 Parameter...... 80 4-1 Parameter list...... 80 Adjustment and setting 1 Adjustment and setting
This chapter explains how to adjust/set the motor and driver functions.
1-1 Step angle
Set the motor step angle using the "Motor step angle" parameter. Related parameter
Parameter name Description Setting range Initial value Motor step angle Sets the motor step angle. 0 to 15 0
zz Setting value of the “Motor step angle” parameter If the base step angle of the motor is 0.72° If the base step angle of the motor is 0.36° Setting Step angle Number of divisions Setting Step angle Number of divisions 0 0.72° 1 0 0.36° 1 1 0.36° 2 1 0.18° 2 2 0.288° 2.5 2 0.144° 2.5 3 Operation and setting type 3 0.18° 4 3 0.09° 4 4 0.144° 5 4 0.072° 5 5 0.09° 8 5 0.045° 8 6 0.072° 10 6 0.036° 10 7 0.036° 20 7 0.018° 20 8 0.0288° 25 8 0.0144° 25 9 0.018° 40 9 0.009° 40 10 0.0144° 50 10 0.0072° 50 11 0.009° 80 11 0.0045° 80 12 0.0072° 100 12 0.0036° 100 13 0.00576° 125 13 0.0028° 125 14 0.0036° 200 14 0.0018° 200 15 0.00288° 250 15 0.00144° 250
••Step angles are theoretical values. ••With the geared type, the value of “step angle/gear ratio” becomes the actual step angle. ••The base step angle is 0.36° for high-resolution type motors.
1-2 Operating current
Set the motor operating current using the “Operating current” parameter. If the load is small and there is an ample allowance for torque, the motor temperature rise can be suppressed by setting a lower operating current. Related parameter
Parameter name Description Setting range Initial value Sets the motor operating current based on the Operating current 5 to 100% 100 rated current being 100%.
Excessively low operating current may cause a problem in starting the motor or holding the load in position. Do not lower the operating current more than necessary.
58 Adjustment and setting
1-3 Standstill current
When the motor stops, the current cutback function will be actuated to lower the motor current to the standstill current. The standstill current is a value in which the set value of the “Standstill current” parameter is multiplied by the rated current (100%). The standstill current does not change even when the “Operating current” parameter has been changed. Related parameter
Parameter name Description Setting range Initial value Sets the motor standstill current as a percentage of the Standstill current 0 to 50% 50 rated current, based on the rated current being 100%.
1-4 Acceleration/deceleration rate
Acceleration/deceleration unit Set the acceleration/deceleration in ms/kHz unit. Speed [Hz] Operating speed Acceleration Deceleration rate (ms/kHz) rate (ms/kHz) 3 Operation and setting type Starting speed
Time [s]
Common setting and separate setting of the acceleration/deceleration rate The acceleration/deceleration for positioning operation or continuous operation can be set as follows using the “Acceleration/deceleration type” parameter: Separate: The acceleration/deceleration rate set under the applicable operation data No. will be followed. Common: The setting of the “Common acceleration” and “Common deceleration” parameter will be followed.
••When performing linked operation, the acceleration/deceleration rate for the starting linked operation data No. is applied even when the “Acceleration/deceleration type” parameter is set to “separate.” ••See p.76 for the acceleration/deceleration rate when performing variable speed operation.
Related parameters
Parameter name Description Setting range Initial value Sets whether to use the common acceleration/ Acceleration/ 0: Common deceleration rate or the acceleration/deceleration 0 deceleration type 1: Separate rate specified for the operation data. Common Sets the common acceleration rate in positioning acceleration rate operation and continuous operation. 0.001 to 30.000 Common Sets the common deceleration rate in positioning 1,000.000 ms/kHz deceleration rate operation and continuous operation.
59 Operation 2 Operation
This chapter explains the types of operation and timing charts.
Operation
[Setting by operation data and parameters]
Positioning operation
Operating function Single-motion operation Linked-motion operation 2 Speed Speed Dwell time Operation Operation Operation Operation data No.1 data No.2 data No.1 data No.2 Starting method Time Time Starting Starting Data number selecting command command + operation Linked-motion operation Sequential positioning Speed operation 3 Operation and setting type Operation Operation data No.1 data No.2 Starting Time command
Return-to-home operation Continuous operation Other operations 3-sensor mode JOG operation -LS HOMES +LS Motor operation Time
M0 to M5 input 2-sensor mode -LS +LS FWD input
RVS input
Position preset
Function
[Setting by parameters]
I/O Motor function Alarm/warning Return-to-home function Coordination setting Input logic level Operating current Misstep detection Return-to-home speed Step angle STOP input action Standstill current Warning detection Home position o set Encoder electronic gear Overtravel action Return-to-home starting direction Motor rotation direction Operation function SLIT sensor, TIM signal detection Acceleration/deceleration rate JOG operation
60 Operation
2-1 Positioning operation
Positioning operation is one in which motor operating speed, position (travel amount) and other items are set as operation data and then executed. When the positioning operation is executed, the motor begins at the starting speed and accelerates until the operating speed is reached. Then, once the operating speed is reached, that speed is maintained. The motor decelerates when the stopping position approaches, and finally comes to a stop. The operation function can also be set in operation data. The operation function is how to operate consecutive operation data (example: operation data No.1, No.2, No.3).
Operation data The following data are the operation data for positioning operation.
Name Description Setting range Initial value Sets the position (distance) for positioning −8,388,608 to +8,388,607 Position 0 operation. step Sets the operating speed in positioning Operating speed 1 to 500,000 Hz 1,000 operation and continuous operation. Selects how to specify the position (travel INC: Incremental Operation mode INC amount) in positioning operation. ABS: Absolute SnGL: Single-motion Selects how to operate consecutive Operation function Lin1: Linked-motion SnGL operation data. Lin2: Linked-motion 2 Sets whether to enable or disable 0: Disable 3 Operation and setting type Sequential positioning 0 sequential positioning operation. 1: Enable Sets the acceleration rate or time in Acceleration rate positioning operation and continuous operation. 0.001 to 1,000.000 ms/kHz 30.000 Sets the deceleration rate or time in Deceleration rate positioning operation and continuous operation. Sets the dwell time to be used in linked- Dwell time 0 to 50.000 s 0 motion operation 2.
zz Position, operating speed, acceleration, deceleration The acceleration/deceleration for positioning operation can be set as follows using the “Acceleration/deceleration type” parameter: Separate : The acceleration/deceleration rate set under the applicable operation data No. will be followed. (Each 63 data for acceleration and deceleration) Common : The setting of the “Common acceleration” and “Common deceleration” parameter will be followed. (Each one data for acceleration and deceleration)
When the starting speed < operating speed When the starting speed ≥ operating speed Speed Travel amount Speed Travel amount Operating speed Starting speed Acceleration rate Starting speed Deceleration Operating speed rate Time Time
61 Operation
zz Operation modes The following two operation modes are available: Absolute (ABS) mode The position (distance) from home is set [Absolute positioning]. Home Starting point -3,000 3,000 Example: When positioning operation is performed with setting 0 1,000 the starting point to 1,000 and setting the destination to +3,000 Travel amount Travel amount and −3,000 -4,000 2,000
Incremental (INC) mode Each motor destination becomes the starting point for the next Home Starting point movement. This mode is suitable when the same position -2,000 0 1,000 4,000 (distance) is repeatedly used [Incremental positioning]. Travel amount Travel amount Example: When positioning operation is performed with setting -3,000 3,000 the starting point to 1,000 and setting the destination to +3,000 and −3,000 zz Operation function, dwell time The following three operation functions are available:
Name Description Ref. Single-motion A single operation data set is executed. p.66
3 Operation and setting type Linked-motion Multiple sets of operation data are linked to perform multi-variable speed operation p.67 Dwell time (stop waiting time) can be set between operation data. Linked-motion 2 p.68 Operation data whose rotation direction is different can also be linked.
Starting method of positioning operation The following two types are available in the starting method.
Name Description Data number selecting When the START input is turned ON with selecting the operation data No. by a operation combination of the M0 to M5 inputs, the positioning operation will perform. Sequential positioning Positioning operation is performed to the next operation data No. every time a START operation input signal is input.
zz Data number selecting operation Select an operation data based on a combination of ON/OFF status of the M0 to M5 inputs. See p.47 for details. If all M0 to M5 inputs are turned OFF, sequential operation will be selected.
Operation data No. M5 M4 M3 M2 M1 M0 Sequential operation OFF OFF OFF OFF OFF OFF 1 OFF OFF OFF OFF OFF ON 2 OFF OFF OFF OFF ON OFF · · · · · · · · · · · · · · · · · · · · · 61 ON ON ON ON OFF ON 62 ON ON ON ON ON OFF 63 ON ON ON ON ON ON
62 Operation
Operating method 1) Check the READY output is ON. 2) Select the operation data No. by a combination of the M0 to M5 inputs and turn the START input ON. 3) The motor starts positioning operation. 4) Check that the READY output has been turned OFF and turn the START input OFF. 5) When the positioning operation is completed, the READY output will be turned ON.
No.1 Motor operation
ON M0 to M5 input *No.0No.1 OFF
ON START input * 2 OFF 1 ON READY output 4 5 OFF ON 3 MOVE output OFF
** When controlling the motor via network communication, operation is performed even if the M0 to M5 input and operation input are turned ON simultaneously. 3 Operation and setting type zz Sequential positioning operation When the "sequential positioning" of the operation data is set to "Enable," positioning operation for the next operation data number is performed every time the START input turns ON. This function is useful when multiple positioning operations must be performed sequentially, because there is no need to select each data number by the M0 to M5 inputs. When the "sequential positioning" of the operation data is executed up to the data number set to "Disable," the operation returns to the operation data No.1 and the sequential operation will start again.
Set the "sequential positioning" of the operation data No.1 to "Enable" without fail because the sequential operation starts from the operation data No.1.
When the operating pattern is one type 1) The positioning operation for the operation data No.1 is performed by turning the START input ON. 2) After the operation 1) is completed, when turning the START input ON again, the positioning operation for the operation data No.2 will be performed. 3) After the operation 2) is completed, when turning the START input ON again, the positioning operation for the operation data No.3 will be performed. 4) After the operation 3) is completed, when turning the START input ON again, the positioning operation will be performed by returning to the operation data No.1 because the sequential positioning for the operation data No.4 has been set to “disable.”
••Setting example Operation data Sequential positioning No.1 No.2 Enable No.3 No.4 Disable
1 START 2 START 3 START 4 START =ON Operation =ON Operation =ON Operation =ON data No.1 data No.2 data No.3
63 Operation
When the operating patterns are multiple This section explains how to operate when performing the sequential positioning operation by the following operation data.
Operation data Operation function Sequential positioning No.0 − − No.1 Single-motion Enable No.2 Linked-motion Enable No.3 Linked-motion Enable No.4 Single-motion Enable No.5 Single-motion Disable No.11 Single-motion Enable No.12 Single-motion Enable No.13 Single-motion Disable
An example when executing the operation data No.0 first 1) When selecting the data No.0 and turning the START input ON, a single operation for the data No.1 is performed. 2) After the operation 1) is completed, when turning the START input ON again, the linked-motion operation for the operation data No.2 to No.4 will be performed. 3 Operation and setting type 3) After the operation 2) is completed, when turning the START input ON again, a single operation for the operation data No.1 will be performed by returning to the operation data No.1 because the "sequential positioning" for the operation data No.5 has been set to "Disable." Speed
No.1 No.2 No.3 No.4 Time ON M0 to M5 input No.1 No.0 OFF ON START input OFF ON MOVE output OFF
When performing the sequential positioning operation for the operation data which “operation function” is set to “Linked-motion” or “Linked-motion 2,” set the “sequential positioning” to “Enable.”
An example when executing the operation No.0 after executing the operation data No.11 1) When selecting the data No.11 and turning the START input ON, a single operation for the data No.11 is performed. 2) After the operation 1) is completed, when selecting the data No.0 and turning the START input ON, a single operation for the operation data No.12 will be performed. 3) After the operation 2) is completed, when turning the START input ON again, a single operation for the operation data No.1 will be performed by returning to the operation data No.1 because the "sequential positioning" for the operation data No.13 has been set to "Disable." An example when the "sequential positioning" for the operation data No.1 is set to "Disable" When selecting the data No.0 and turning the START input ON while the "sequential positioning" for the operation data No.1 is set to "Disable," an operation data error alarm will generate. An example when executing the data No.0 after executing the data No.11 and No.12 while the "sequential positioning" for the operation data No.1 is set to "Disable" An operation data error alarm will generate.
64 Operation
The operation data will return to the data No.1. · When performing return-to-home operation · When presetting the command position · When turning the STOP input OFF · When performing continuous operation · When turning the AWO input ON (factory setting: normally open) · When resetting an alarm after it was generated · When performing teaching function or JOG operation using the MEXE02 or OPX-2A
Operating method 1) Check the READY output is ON. 2) Turn the START input ON. 3) The motor starts positioning operation. 4) Check that the READY output has been turned OFF and turn the START input OFF. 5) When the positioning operation is completed, the READY output will be turned ON.
Motor operation
ON 2 SSTART input OFF 1 3 Operation and setting type ON READY output 4 5 OFF ON 3 MOVE output OFF ON END output OFF
zz Stop the positioning operation When the STOP input is turned ON, the current positioning operation stops. (Factory setting: normally closed) Absolute mode In the absolute mode, the absolute position (distance) is set with reference to the home position. If the operation is resumed after stopping the motor on the way, it will move to the specified position. Incremental mode The incremental mode, the destination of each movement (current position) becomes the starting point of the next movement. If the operation is stopped on the way, the stopped position (current position) will become the starting point of the next operation.
65 Operation
Operation function
zz Single-motion The positioning operation is performed only once using a single operation data set. Example of single-motion operation
Operation Operating Operation Operation Dwell Sequential Position Acceleration Deceleration data speed mode function time positioning Single- No.1 5,000 5,000 30,000 30,000 INC Not used Not used motion
Operation example Speed Operating speed of No.1: 5,000
Operation data No.1 Starting speed: 500 0 5,000 Position
Operating method 3 Operation and setting type 1) Check the READY output is ON. 2) Select the operation data No.1 by turning the M0 input ON, and turn the START input ON. 3) The motor starts positioning operation of the operation data No.1. 4) Check that the READY output has been turned OFF and turn the START input OFF. 5) When the positioning operation is completed, the READY output will be turned ON.
No.1 Motor operation
ON M0 to M5 input *No.0No.1 OFF
ON START input * 2 OFF 1 ON READY output 4 5 OFF ON 3 MOVE output OFF
** When controlling the motor via network communication, operation is performed even if the M0 to M5 input and operation input are turned ON simultaneously.
66 Operation
zz Linked-motion operation When the “operation function” is set to “linked-motion” using operation data, positioning operation based on the next data number will be performed without stopping the motor. If operation data includes data for which “single-motion” is set, the motor will stop after the positioning with respect to the “single” operation data is completed. A maximum of four operation data can be linked. Note that only operation data of the same direction can be linked.
••Multiple operation data of different directions cannot be linked. An operation data error alarm will generate during operation. ••Up to four sets of operation data can be linked. When combining the linked-motion operation and the linked-motion operation 2, make sure the total number of linked operation data sets does not exceed four. When linked-motion operation is performed with five or more sets of operation data linked together, an operation data error alarm will generate upon start of operation. ••No.1 will not be linked even when “linked-motion” is set for data No.63, because the operation pertaining to No.63 will be processed independently. ••The acceleration/deceleration in linked-motion operation corresponds to the acceleration/ deceleration specified for the operation data No. with which the linked-motion operation is started.
Example of linked-motion operation
Operation Operating Operation Operation Dwell Sequential Position Acceleration Deceleration data speed mode function time positioning
Linked- 3 Operation and setting type No.1 5,000 5,000 30,000 30,000 INC Not used Not used motion Single- No.2 20,000 10,000 Not used Not used INC Not used Not used motion
Operation example
Speed Operating speed of No.2: 10,000
Operating speed of No.1: 5,000
Starting speed: 500 No.1 No.2 0 5,000 20,000 Position
Operating method 1) Check the READY output is ON. 2) Select the operation data No.1 by turning the M0 input ON and turn the START input ON. 3) The motor starts the positioning operation in which the operation data No.1 and No.2 are linked. 4) Check that the READY output has been turned OFF and turn the START input OFF. 5) When the positioning operation is completed, the READY output will be turned ON.
No.1 No.2 Motor operation
ON M0 to M5 input *No.0No.1 OFF
ON START input * 2 OFF 1 ON READY output 4 5 OFF ON 3 MOVE output OFF
** When controlling the motor via network communication, operation is performed even if the M0 to M5 input and operation input are turned ON simultaneously.
67 Operation
zz Linked-motion operation 2 By setting the “operation function” of operation data to “Linked-motion 2,” an operation data whose rotation direction is different can be linked. In this case, the system stops for the dwell time after each positioning operation, and then performs operation according to the next operation data. If operation data includes data for which “single-motion” is set, the motor will stop after the positioning with respect to the “single” operation data is completed.
••Up to four sets of operation data can be linked. When combining the linked-motion operation and the linked-motion operation 2, make sure the total number of linked operation data sets does not exceed four. When linked-motion operation is performed with five or more sets of operation data linked together, an operation data error alarm will generate upon start of operation. ••No.1 will not be linked even when “linked-motion 2” is set for data No.63, because the operation pertaining to No.63 will be processed independently.
Example of linked-motion operation 2
Operation Operating Operation Operation Dwell Sequential Position Acceleration Deceleration data speed mode function time positioning Linked- No.1 5,000 5,000 30,000 30,000 INC 1,000 Not used motion 2 Single- No.2 −3,000 3,000 30,000 30,000 INC 0 Not used motion
Operation example 3 Operation and setting type Speed Operating speed of No.1: 5,000 Operation data No.1 Stop for 1,000 ms Starting speed: 500 2,000 0 Operation data 5,000 Position No.2 Operating speed of No.2: -3,000
Operating method 1) Check the READY output is ON. 2) Select the operation data No.1 by turning the M0 input ON and turn the START input ON. 3) The motor starts the positioning operation for the operation data No.1. 4) Check that the READY output has been turned OFF and turn the START input OFF. 5) When the positioning operation 3) is completed, the MOVE output will be turned OFF. 6) When the dwell time has passed, the positioning operation for the operation data No.2 will automatically start. At the same time, the MOVE output will be turned ON. 7) When the positioning operation for the operation data No.2 is completed, the READY output will be turned ON.
Dwell time No.1 1,000 ms Motor operation No.2
ON M0 to M5 input *No.0No.1 OFF ON START input * 2 OFF 1 ON READY output 4 7 OFF 5 6 ON 3 MOVE output OFF
** When controlling the motor via network communication, operation is performed even if the M0 to M5 input and operation input are turned ON simultaneously.
68 Operation
Example of linked-motion operation 2: When combining the linked-motion operation and the linked-motion operation 2
Operation Operating Operation Operation Dwell Sequential Position Acceleration Deceleration data speed mode function time positioning Linked- No.1 5,000 3,000 30,000 30,000 INC Not used Not used motion Linked- No.2 10,000 5,000 Not used Not used INC Not used Not used motion Linked- No.3 25,000 7,000 Not used Not used INC 1,000 Not used motion 2 Single- No.4 0 7,000 30,000 30,000 ABS Not used Not used motion
Operation example Speed Operating speed of No.3: 7,000 Operating speed of No.2: 5,000
Operating speed of No.1: 3,000 Stop for 1,000 ms Starting speed: 500 No.1 No.2 No.3
0 5,000 15,000 40,000 Position 3 Operation and setting type
No.4
Operating speed of No.4: -7,000
Operating method 1) Check the READY output is ON. 2) Select the operation data No.1 by turning the M0 input ON and turn the START input ON. 3) The motor starts the positioning operation in which the operation data from No.1 to No.3 are linked. 4) Check that the READY output has been turned OFF and turn the START input OFF. 5) When the positioning operation 3) is completed, the MOVE output will be turned OFF. 6) When the dwell time has passed, the positioning operation for the operation data No.4 will automatically start. At the same time, the MOVE output will be turned ON. 7) When the positioning operation for the operation data No.4 is completed, the READY output will be turned ON.
Dwell time 1,000 ms
Motor operation No.1 No.2 No.3 No.4
ON M0 to M5 input *No.0No.1 OFF ON START input * 2 OFF 1 ON READY output 4 7 OFF 5 6 ON 3 MOVE output OFF
** When controlling the motor via network communication, operation is performed even if the M0 to M5 input and operation input are turned ON simultaneously.
69 Operation
2-2 Return-to-home operation
Return-to-home is an operation in which the reference point of positioning (mechanical home position) is detected automatically. Return-to-home operation is performed to return to the home position from the current position when the power supply is turned on or the positioning operation is completed. Return-to-home operation can be performed in the following three modes:
Item Description Feature ••Three external sensors are The motor operates at the "operating speed of home-seeking.” needed *1 3-sensor mode When the HOME sensor is detected, the motor will stop and ••Operating speed is high the stop position will be the home position. (Operating speed of return-to-home)
The motor operates at the "starting speed of home-seeking.” ••Two external sensors are When the limit sensor is detected, the motor will rotate in the needed reverse direction and escape from the limit sensor. 2-sensor mode After escaping from the limit sensor, the motor will move ••Operating speed is low 200 steps and stop, and then the stop position will be the (Starting speed of return- home position. *2 to-home) When executing the P-PRESET input at the position that the ••No external sensor is needed Position preset motor stops, the command position will be the value of the "Preset position” parameter. The home position can be set to ••The home position can be any position. set to any position. 3 Operation and setting type
*1 In the case of a rotating mechanism, even when using one external sensor, the home position can be detected. *2 The factory setting is 200 steps. It can be changed to a desired value using the “Backward steps in 2-sensor mode home-seeking” parameter.
Additional function
2-sensor mode Item Position preset Related parameter 3-sensor mode Home offset Possible Not possible Position offset of home-seeking External sensor (signal) ••SLIT detection with home-seeking Possible Not possible detection ••TIM signal detection with home-seeking Command position after The position Any position Preset position returning to home becomes "0”
zz Home offset This is a function to perform positioning operation of the offset amount set by the parameter after return-to-home operation and to set the stop position to the home position. The position set by the home offset is called “electrical home” in distinction from the usual home position. If the amount of offset from mechanical home is “0,” the mechanical home and electrical home will become the same. Mechanical home Electrical home Return-to-home operation O set operation
-LS HOMES +LS
zz Detecting the external sensor (signal) When detecting the home, use of the SLIT input and/or TIM signal will increase the accuracy of home detection.
When the TIM output is used, set the resolution to be an integral multiple of 50.
70 Operation
zz Command position after returning to home When executing the P-PRESET input at the position that the motor stops, the command position will be the value of the “Preset position” parameter.
Parameters related to return-to-home operation
Parameter name Description Setting range Initial value Set the mode for return-to-home 0: 2-sensor mode Home-seeking mode 1 operation. 1: 3-sensor mode Operating speed of Sets the operating speed for return-to- 1 to 500,000 Hz 1,000 home-seeking home operation. Acceleration/ Sets the acceleration/deceleration rate or 0.001 to deceleration of home- 30.000 time for return-to-home operation. 1,000.000 ms/kHz seeking Starting speed of home- Sets the starting speed for return-to-home 1 to 500,000 Hz 100 seeking operation. Position offset of Sets the amount of offset from mechanical −8,388,608 to 0 home-seeking home. 8,388,607 step Starting direction of Sets the starting direction for home 0: Negative direction 1 home-seeking detection. 1: Positive direction SLIT detection with Sets whether or not to concurrently use the 0: Disable home-seeking SLIT input for return-to-home operation. 1: Enable 3 Operation and setting type Sets whether or not to concurrently use the 0: Disable 0 TIM signal detection TIM signal or ZSG signal for return-to-home 1: Enable (TIM) with home-seeking operation. 2: Enable (ZSG) ∗ Backward steps in Sets the travel amount after the motor 2-sensor mode home- pulls out from the LS sensor in 2-sensor 0 to 32,767 step 200 seeking return-to-home operation.
** This signal is used when an encoder is connected. zz Operation example (when using 3-sensor mode)
Operating sequence in seeing a time axis Speed Operating speed of home-seeking Acceleration/deceleration Electrical home Starting speed of home-seeking of home-seeking Operating speed Time of home-seeking Mechanical home ON HOMES input OFF
Operating sequence in seeing a travel amount
Speed HOMES input Operating speed of home-seeking Electrical home Starting speed of home-seeking Starting position 0 Position
Mechanical home
71 Operation
zz Operating method 1) Check the READY output is ON. 2) Turn the HOME input ON. 3) Return-to-home operation will be started. 4) Check that the READY output has been turned OFF and turn the HOME input OFF. 5) When return-to-home operation is completed, the HOME-P output will be turned ON.
Motor operation
ON HOME input 2 OFF 1 ON READY output 4 OFF ON 3 MOVE output OFF ON 5 HOME-P output OFF ON HOMES input 3 Operation and setting type OFF
72 Operation
Operation sequence of the 3-sensor mode The home is detected using the three sensors of +LS, −LS and HOMES. The ON edge of HOMES defines the home. If the "SLIT detection with home-seeking" parameter is set to "Enable," an AND gate will be applied to the ON edge of HOMES and the SLIT input, thereby enabling more accurate home detection. Also note that by setting the "TIM signal detection with home-seeking" parameter to "Enable," an AND gate can be applied to the TIM signal or encoder Z-phase signal. - - - indicates when home oset has been set. Starting position of Starting direction of return-to-home Starting direction of return-to-home return-to-home operation operation: + (FWD) operation: - (RVS) -LS HOMES +LS -LS HOMES +LS + side VR + side VR -LS VL VS VS VL - side VS - side VS VR VR -LS HOMES +LS -LS HOMES +LS + side VR + side VR +LS VL VS VS VL - side VS - side VS VR VR -LS HOMES +LS -LS HOMES +LS
+ side VR + side VR VS VS HOMES VL 3 Operation and setting type VL - side VS - side VS VR VR -LS HOMES +LS -LS HOMES +LS + side VR + side VR Between VL VS VS HOMES and -LS VL - side VS - side VS VR VR -LS HOMES +LS -LS HOMES +LS + side VR + side VR Between VL VS VS HOMES and +LS VL - side VS - side VS VR VR
VS: Starting speed of home-seeking VR: Operating speed of home-seeking VL: Last speed of return-to-home (When VS < 500 Hz: VS, When VS ≥ 500 Hz: 500 Hz)
73 Operation
Operation sequence of the 2-sensor mode The home is detected using +LS and −LS. When the motor pulls off of the limit sensor and both +LS and −LS turn OFF, the applicable position will be used to define the home. If the "SLIT detection with home-seeking" parameter is set to "Enable," an AND gate will be applied to the ON edge of HOMES and the SLIT input, thereby enabling more accurate home detection. Also note that by setting the "TIM signal detection with home-seeking" parameter to "Enable," an AND gate can be applied to the TIM signal or encoder Z-phase signal. - - - indicates when home o set has been set. Starting position of Starting direction of return-to-home Starting direction of return-to-home return-to-home operation operation: + (FWD) operation: - (RVS) -LS +LS -LS +LS + side VR + side * VR VS VS -LS - side VS - side VS * VR VR -LS +LS -LS +LS
+ side VR + side * VR VS VS +LS - side VS - side VS * VR VR -LS +LS -LS +LS VR VR 3 Operation and setting type + side + side * Between VS VS -LS and +LS - side VS - side VS * VR VR
VS: Starting speed of home-seeking VR: Operating speed of home-seeking ** After pulling off of the limit sensor, the equipment will move by the value set in the “Backward steps in 2-sensor mode home-seeking” parameter (initial value: 200 steps). When an AND gate is applied to the SLIT signal, TIM signal or encoder Z-phase signal, the home position will be detected after moving the value set in the "Backward steps in 2-sensor mode home-seeking" parameter.
Position preset When the P-PRESET input is turned ON, the command position is set as the value of the “Preset position” parameter. However, the preset will not execute in the following conditions. •• When the motor is operating •• When an alarm is present Related parameter
Parameter name Description Setting range Initial value Preset position Sets the preset position. −8,388,608 to 8,388,607 step 0
zz Operating method 1) Check the READY output is ON. 2) Turn the P-PRESET input ON. 3) When the driver internal processing is completed, the HOME-P output will be turned ON. 4) Check the HOME-P output has been turned ON, and then turn the P-PRESET input OFF. ON P-PRESET input 2 OFF 1 4 ON READY output OFF
ON 3 HOME-P output OFF ON Command position Preset position OFF
74 Operation
2-3 Continuous operation
The motor operates continuously while the FWD or RVS input is ON. Operation is performed based on the FWD or RVS input and the operating speed corresponding to the selected operation data No. When the operation data No. is changed during continuous operation, the speed will change to the speed specified by the new operation data No. When the FWD or RVS input is turned OFF, the motor will decelerate to a stop. If the signal of the same direction is turned ON again during deceleration, the motor will accelerate and continue operating. If the FWD and RVS inputs are turned ON simultaneously, the motor will decelerate to a stop.
Operation data Operation data for continuous operation are as follows.
Name Description Setting range Initial value Operating speed Sets the operating speed in continuous operation. 1 to 500,000 Hz 1,000 Acceleration rate Sets the acceleration rate in continuous operation. 0.001 to 100.000 ms/kHz 30.000 Deceleration rate Sets the deceleration rate in continuous operation.
Speed Operating speed Operation data
Starting speed No.1 3 Operation and setting type
Starting speed Time Operation data No.2 Operating speed ON FWD input OFF ON RVS input OFF
** The acceleration/deceleration for continuous operation can be set as follows using the “Acceleration/deceleration type” parameter: Separate : The acceleration/deceleration set under the applicable operation data No. will be followed. (Each 63 data for acceleration and deceleration) Common : The setting of the “Common acceleration” and “Common deceleration” parameter will be followed. (Each one data for acceleration and deceleration)
Starting method of continuous operation When selecting the operation data No. and turning the FWD input or RVS input ON, continuous operation will be started. Select an operation data based on a combination of ON/OFF status of the M0 to M5 inputs. See p.47 for details.
Operation data No. M5 M4 M3 M2 M1 M0 1 OFF OFF OFF OFF OFF ON 2 OFF OFF OFF OFF ON OFF 3 OFF OFF OFF OFF ON ON · · · · · · · · · · · · · · · · · · · · · 61 ON ON ON ON OFF ON 62 ON ON ON ON ON OFF 63 ON ON ON ON ON ON
75 Operation
Operating method 1) Check the READY output is ON. 2) Select the operation data No. by a combination of the M0 to M5 inputs and turn the FWD input ON. 3) The motor starts continuous operation. The READY output will be turned OFF. 4) Select the operation data No.2 by turning the M0 input ON. The motor accelerates to the operating speed of the operation data No.2. 5) Select the operation data No.1 by turning the M0 input OFF and M1 input ON. The motor decelerates to the operating speed of the operation data No.1. 6) Turn the FWD input OFF. 7) The motor will decelerate to a stop and the READY output will be turned ON.
Motor operation No.1 No.2 No.1 4 5 ON M0 to M5 input *No.1NNo.2 o.1 OFF 6 ON FWD input * 2 OFF 1 ON READY output OFF
3 Operation and setting type ON 3 7 MOVE output OFF
** When controlling the motor via network communication, operation is performed even if the M0 to M5 input and operation input are turned ON simultaneously.
Variable speed operation
zz When acceleration/deceleration rate is “common” When accelerating When decelerating VR2 VR1
TAC TDC TAC TDC VR1 VR2 TDC TAC VS VS
ON ON FWD input FWD input OFF OFF Operation Operation No.1 No.2 No.1 No.2 data No. data No.
••Explanation of labels VS: Starting speed (Hz) VR1: Operating speed of operation data No.1 (Hz) VR2: Operating speed of operation data No.2 (Hz) TAC: Common acceleration rate TDC: Common deceleration rate
76 Operation
zz When acceleration/deceleration rate is “separate” When accelerating When decelerating VR2 VR1 TA2 TD2 TA1 TD2 VR1 VR2 TA1 TD2
VS VS
ON ON FWD input FWD input OFF OFF Operation Operation No.1 No.2 No.1 No.2 data No. data No.
••Explanation of labels VS: Starting speed (Hz) TA1: Acceleration rate of operation data No.1 VR1: Operating speed of operation data No.1 (Hz) TA2: Acceleration rate of operation data No.2 VR2: Operating speed of operation data No.2 (Hz) TD2: Deceleration rate of operation data No.2
2-4 Other operation 3 Operation and setting type Test operation Test operation is performed using the MEXE02 or OPX-2A. JOG operation, teaching function and positioning operation can be performed. For details, refer to the operating manual for each product. zz JOG operation Connection condition or operation status for the motor and driver can be checked using JOG operation. Related parameters
Parameter name Description Setting range Initial value JOG operating speed Sets the operating speed for JOG operation. 1 to 500,000 Hz 1,000 Acceleration/deceleration Sets the acceleration/deceleration rate or time 0.001 to 30.000 rate of JOG for JOG operation. 1,000.000 ms/kHz JOG starting speed Sets the starting speed for JOG operation. 1 to 500,000 Hz 100
Example: When performing JOG operation with the OPX-2A Speed JOG operating speed
1 step 1 step JOG starting speed
Less than1 s1 s or more Time
Key
zz Teaching function This is a function to move the motor using the MEXE02 or OPX-2A and set the current position as the position (travel amount) of the operation data. When the position (travel amount) is set using teaching function, the “operation mode” will always be the absolute mode. The operating speed, acceleration/deceleration and starting speed of teaching function are same as those of JOG operation. zz Positioning operation This is a function to check the set operation data in advance using the MEXE02 or OPX-2A. It is a convenient function when checking the operation without connecting a programmable controller.
77 Operation
Stop operation
zz STOP action When the STOP input is turned ON or STOP is commanded via Speed RS-485 communication while the motor is operating, the motor will stop. The stopping mode is determined by the setting of the “STOP Motor operation input action” parameter. For example, the operation when setting "STOP input action" Time ON parameter to "deceleration stop" is shown in the figure. STOP input OFF zz Hardware overtravel Hardware overtravel is the function that limits the operation range Speed by installing the limit sensor (±LS) at the upper and lower limit of the operation range. If the "Hardware overtravel" parameter is set Motor operation to "enable", the motor can be stopped when detecting the limit sensor. Time ON The stopping mode is determined by the setting of “Overtravel ±LS input OFF action” parameter. The operation example when setting the "Overtravel action" parameter to “immediate stop” is shown in the figure. zz Software overtravel The software overtravel is a function that limits the range of Speed
3 Operation and setting type movement via software settings. If the "Software overtravel" parameter is set to "enable", the motor Motor operation can be stopped when exceeding the software limit. The stopping mode is determined by the setting of “Overtravel action” parameter. Time The operation example shown on the figure applies when an Spftware limit operation where a software limit is to be exceeded is started.
Software overtravel will become effective after the position origin is set. See p.86 for setting the position origin.
zz Escape from the limit sensor It is possible to escape in the negative direction when detecting the positive direction limit, and possible to escape in the positive direction when detecting the negative direction limit. The following operations can be used when escaping from the limit sensor.
Types of operation Limit sensors (±LS) Software limit Positioning operation Will not operate (unable to escape)
Continuous operation Allowed to operate (able to escape) Test operation Allowed to operate (able to escape) Return-to-home operation
78 Operation data 3 Operation data
Up to 63 operation data can be set (data Nos.1 to 63). If the data is changed, a recalculation and setup will be performed after the operation is stopped.
Name Description Setting range Initial value Position No.1 Sets the position (distance) for −8,388,608 to to 0 positioning operation. +8,388,607 step Position No.63 Operating speed No.1 Sets the operating speed in positioning to 0 to 500,000 Hz 1,000 operation and continuous operation. Operating speed No.63 Selects how to specify the position Operation mode No.1 (travel amount) in positioning 0: INC (Incremental) to 0 operation (absolute mode or 1: ABS (Absolute) Operation mode No.63 incremental mode). Operation function No.1 0: Single-motion Selects how to operate consecutive to 1: Linked-motion 0 operation data. Operation function No.63 2: Linked-motion 2 Acceleration rate No.1 Sets the acceleration rate in positioning to 3 Operation and setting type operation and continuous operation. * Acceleration rate No.63 0.001 to 30.000 Deceleration rate No.1 Sets the deceleration rate in 1,000.000 ms/kHz to positioning operation and continuous Deceleration rate No.63 operation. * Sequential positioning No.1 Sets whether to enable or disable 0: Disable to 0 sequential positioning operation. 1: Enable Sequential positioning No.63 Dwell time No.1 Sets the dwell time to be used in to 0 to 50,000 (1=0.001 s) 0 linked-motion operation 2. Dwell time No.63
** This item is effective when the “Acceleration/deceleration type” parameter is set to “separate.” If this parameter is set to “common”, the values of the “Common acceleration” and “Common deceleration” parameters will be used (initial value: separate).
79 Parameter 4 Parameter
The parameters are saved in the RAM or non-volatile memory. The data saved in the RAM will be erased once the power supply is turned off. On the other hand, the parameters saved in the non-volatile memory will be retained even after the power supply is turned off. When turning the driver 24 VDC power ON, the parameters saved in the non-volatile memory will be sent to the RAM. Then, the recalculation and setup for the parameters are executed in the RAM.
••The parameters are written in the RAM when writing via RS-485 communication. ••The non-volatile memory can be rewritten approximately 100,000 times.
4-1 Parameter list
Application parameter
••START input mode ••Data No. input mode ••I/O STOP input ••AWO contact configuration ••STOP action ••Hardware overtravel detection 3 Operation and setting type ••STOP contact configuration ••LS contact configuration ••C-ON logic configuration ••HOMES contact configuration I/O parameter ••OUT1 signal mode selection ••SLIT contact configuration (p.81) ••OUT2 signal mode selection ••Overtravel action ••OUT3 signal mode selection ••Preset position ••OUT4 signal mode selection ••Area 1 ••HOME/P-PRESET input switching ••Area 2 ••Motor excitation mode ••Encoder counter preset value ••HOME/FWD/RVS input mode Motor parameter ••Operating current (p.82) ••Standstill current ••Common acceleration rate ••JOG operating speed Speed parameter ••Common deceleration rate ••JOG acceleration (deceleration) rate (p.82) ••Starting speed ••JOG starting speed ••Acceleration (deceleration) rate type ••Home-seeking mode ••Starting direction of home-seeking ••Operating speed of home-seeking ••SLIT detection with home-seeking Return-to-home parameter ••Acceleration (deceleration) rate of ••TIM signal detection with home- (p.83) home-seeking seeking ••Starting speed of home-seeking ••Backward steps in 2-sensor mode ••Position offset of home-seeking home-seeking ••Stepout detection band Alarm/warning parameter ••Overvoltage warning (p.83) ••Overheat warning ••Software overtravel ••Communication timeout action ••Positive software limit ••Receive period Common parameter ••Negative software limit ••Response interval (p.84) ••Display mode of the data setter speed ••Receive monitoring ••The data setter editing mode ••Stepout detection action
80 Parameter
System parameters
••Motor rotation direction ••Encoder electronic gear A Operation setting parameter ••Stepout detection ••Encoder electronic gear B (p.84) ••Motor step angle ••Communication axis number ••Transmission waiting time Communication parameter ••Communication protocol ••Communication timeout (p.85) ••Communication parity ••Communication error alarm ••Communication stop bit
When a system parameter has been changed, the new parameter will become effective after the power is cycled.
4-2 I/O parameter
Initial Parameter name Description Setting range value Sets whether to input the START input signal 0: RS-485 communication START input mode *1 1 via I/O or RS-485 communication. 1: I/O 3 Operation and setting type Changes the setting to enable/disable STOP 0: Disable I/O STOP input *1 *2 1 input of I/O. 1: Enable 0: Immediate stop Sets how the motor should stop when a STOP 1: Decelerate stop STOP action 1 input is turned ON. 2: Immediate stop & Current OFF 3: Decelerate stop & Current OFF 0: Make (N.O.) STOP contact configuration Sets the STOP input logic. 1 1: Break (N.C.) 0: 0=Not excited, 1=Excited C-ON logic configuration *3 Sets the C-ON logic for RS-485 communication. 0 1: 0=Excited, 1=Not excited OUT1 signal mode selection Sets the function assigned to the OUT1 output. 5 OUT2 signal mode selection Sets the function assigned to the OUT2 output. 7 See table next. OUT3 signal mode selection Sets the function assigned to the OUT3 output. 8 OUT4 signal mode selection Sets the function assigned to the OUT4 output. 9 HOME/P-PRESET input 0: HOME Sets whether to use HOME or P-PRESET input. 0 switching 1: P-PRESET Sets whether to control the motor excitation Motor excitation mode *1 via I/O or RS-485 communication. HOME/FWD/RVS input Sets whether to input the HOME, FWD and RVS 0: RS-485 communication 1 mode *1 input signals via I/O or RS-485 communication. 1: I/O Sets whether to input the M0 to M5 input Data No. input mode *1 signals via I/O or RS-485 communication. 0: Make (N.O.) AWO contact configuration Sets the AWO input logic. 0 1: Break (N.C.) Hardware overtravel Sets whether to enable or disable hardware 0: Disable 1 detection *4 overtravel detection using LS inputs. 1: Enable LS contact configuration Sets the ±LS input logics. HOMES contact 0: Make (N.O.) Sets the HOMES input logic. 0 configuration 1: Break (N.C.) SLIT contact configuration Sets the SLIT input logic. Sets the motor action to take place upon the 0: Immediate stop Overtravel action occurrence of overtravel. 1: Decelerate stop 0 Preset position Sets the preset position. −8,388,608 to +8,388,607 step
81 Parameter
Initial Parameter name Description Setting range value Area 1 Sets the range for AREA output. The AREA output will be ON when the motor is inside the Area 2 area set by the area 1 and area 2. −8,388,608 to +8,388,607 step 0 Encoder counter preset Sets the encoder counter preset value. value *5
*1 Set the parameter when controlling the system via RS-485 communication. *2 If this parameter is disabled, the I/O STOP input will become ineffective and only the stop input received via RS-485 communication will become effective. *3 When “Motor excitation mode” parameter is set to “RS-485 communication”, the excitation condition of the motor at the power ON varies depending on the “C-ON logic configuration” parameter. The motor is not excited if the “C-ON logic configuration” parameter is set to “0,” and excited if the parameter is set to “1.” *4 Even when this parameter is disabled, the ±LS will still become effective during a return-to-home operation. *5 This parameter is used when an encoder is connected. Setting range of “OUT signal mode selection” parameter
5: AREA 8: WNG 11: R-OUT1 14: O.H. 6: TIM 9: HOME-P 12: R-OUT2 15: R-OUT3 7: READY 10: ZSG * 13: STEPOUT * 16: R-OUT4
** This signal is used when an encoder is connected. 3 Operation and setting type 4-3 Motor parameter
Parameter name Description Setting range Initial value Sets the motor operating current based on the rated Operating current 5 to 100% 100 current being 100%. Sets the motor standstill current as a percentage of the Standstill current 5 to 50% 50 rated current, based on the rated current being 100%.
••Decrease the operating current and standstill current when there is an allowance in the motor torque and you wish to reduce vibration during operation or suppress heat generation from the motor. However, be careful of an excessive decrease in current, since the motor torque and holding brake force will drop in rough proportion to the operating current. ••The standstill current is the rated current (100%) multiplied by the standstill current ratio.
4-4 Speed parameter
Initial Parameter name Description Setting range value Sets the common acceleration rate in positioning Common acceleration rate operation and continuous operation. 0.001 to 30.000 Sets the common deceleration rate in positioning 1,000.000 ms/kHz Common deceleration rate operation and continuous operation. Sets the starting speed in positioning operation and continuous operation. The motor will operate Starting speed 100 at the starting speed if the operating speed is 1 to 500,000 Hz below the starting speed. JOG operating speed Sets the operating speed for JOG operation. 1,000 JOG acceleration/ Sets the acceleration/deceleration rate for JOG 0.001 to 30.000 deceleration rate operation. 1,000.000 ms/kHz JOG starting speed Sets the starting speed for JOG operation. 1 to 500,000 Hz 100 Sets whether to use the common acceleration/ Acceleration/deceleration 0: Common deceleration rate or the acceleration/deceleration 0 type 1: Separate rate specified for the operation data.
82 Parameter
4-5 Return-to-home parameter
Parameter name Description Setting range Initial value Set the mode for return-to-home 0: 2 sensors Home-seeking mode 1 operation. 1: 3 sensors Operating speed of home- Sets the operating speed for return-to- 1 to 500,000 Hz 1,000 seeking home operation. Acceleration/deceleration Sets the acceleration/deceleration rate for 0.001 to 30.000 rate of home-seeking return-to-home operation. 1,000.000 ms/kHz Starting speed of home- Sets the starting speed for return-to-home 1 to 500,000 Hz 100 seeking operation. Position offset of home- Sets the amount of offset from mechanical −8,388,608 to 0 seeking home. +8,388,607 step Starting direction of home- Sets the starting direction for home 0: Negative direction 1 seeking detection. 1: Positive direction SLIT detection with home- Sets whether or not to concurrently use the 0: Disable 0 seeking SLIT input for return-to-home operation. 1: Enable Sets whether or not to concurrently use the 0: Disable TIM signal detection with TIM (ZSG) output for return-to-home 1: Enable (TIM) 0 home-seeking operation. 2: Enable (ZSG) *
Sets the travel amount after the motor 3 Operation and setting type Backward steps in 2-sensor pulls out from the LS sensor in 2-sensor 0 to 32,767 step 200 mode home-seeking return-to-home operation.
** This signal is used when an encoder is connected.
4-6 Alarm/warning parameter
Parameter name Description Setting range Initial value Sets the judgment condition for misstep detection Stepout detection band * using the deviation (angle) between the command 0.1 to 360.0 deg 7.2 position and encoder counter value. Sets the voltage at which an overvoltage warning Overvoltage warning 25.0 to 35.0 V 31.0 generates. Sets the temperature at which an overheat Overheat warning 40 to 85 °C 85 warning generates.
** This signal is used when an encoder is connected.
83 Parameter
4-7 Common parameter
Parameter name Description Setting range Initial value Sets whether to enable or disable software 0: Disable Software overtravel 1 overtravel detection using soft limits. 1: Enable Sets the value of soft limit in positive Positive software limit 8,388,607 direction. −8,388,608 to Sets the value of soft limit in negative +8,388,607 step Negative software limit −8,388,608 direction. Display mode of the data Sets the display method of monitored 0: Signed 0 setter speed speed in the OPX-2A. 1: Absolute The data setter editing Sets whether to enable editing by the 0: Disable 1 mode *1 OPX-2A when the power is turned on. 1: Enable Communication timeout Sets how to stop the motor when a 0: Immediate stop 1 action communication timeout occurs. 1: Decelerate stop Sets the receive period for RS-485 0: Function disabled Receive period *2 0 communication (T1). See p.189 for details. 0.01 to 9.99 sec. Sets the response period for RS-485 Response interval *2 0 to 1,000 ms 50 communication (T2). See p.189 for details. Sets the receive monitor period for RS-485 Receive monitoring *2 0.01 to 9.99 sec. 0.10
3 Operation and setting type communication (T3). See p.189 for details. Sets the operation to be performed when 0: No operation (alarm/ the deviation between the command warning not present) Stepout detection action *3 0 position and encoder counter value 1: Warning reaches the stepout detection band. 2: Alarm
*1 The edit lock function can be activated/cancelled using the OPX-2A. *2 Set this parameter when GW Protocol Version 1 is used. *3 This parameter is used when an encoder is connected. T1 T3 T2 T3
Master Frame Frame Slave Frame
4-8 Operation setting parameter
Parameter name Description Setting range Initial value Sets the rotation direction of motor output 0: +direction=CCW Motor rotation direction 1 shaft. 1: +direction=CW Sets whether to enable or disable the misstep 0: Disable Stepout detection ∗ 0 detection function. 1: Enable Motor step angle Sets the motor step angle. See table next. 0 Encoder electronic gear A * Sets the encoder electronic gear A. 1 to 250,000 500 Encoder electronic gear B * Sets the encoder electronic gear B.
** When an encoder is connected, this parameter is used in the misstep detection function. It does not affect the encoder counter value.
84 Parameter
zz Setting value of the “Motor step angle” parameter If the base step angle of the motor is 0.72° If the base step angle of the motor is 0.36° Setting Step angle Number of divisions Setting Step angle Number of divisions 0 0.72° 1 0 0.36° 1 1 0.36° 2 1 0.18° 2 2 0.288° 2.5 2 0.144° 2.5 3 0.18° 4 3 0.09° 4 4 0.144° 5 4 0.072° 5 5 0.09° 8 5 0.045° 8 6 0.072° 10 6 0.036° 10 7 0.036° 20 7 0.018° 20 8 0.0288° 25 8 0.0144° 25 9 0.018° 40 9 0.009° 40 10 0.0144° 50 10 0.0072° 50 11 0.009° 80 11 0.0045° 80 12 0.0072° 100 12 0.0036° 100 13 0.00576° 125 13 0.0028° 125 14 0.0036° 200 14 0.0018° 200 15 0.00288° 250 15 0.00144° 250 3 Operation and setting type
••Step angles are theoretical values. ••With the geared type, the value of “step angle/gear ratio” becomes the actual step angle. ••The base step angle is 0.36° for high-resolution type motors.
4-9 Communication parameter
Parameter name Description Setting range Initial value Communication axis number Sets the axis number for RS-485 communication. 0 to 31 15 0: Modbus RTU Communication protocol Sets the protocol for RS-485 communication. 0 1: GW Ver.1 0: None Communication parity * Sets the parity for RS-485 communication. 1: Even number 1 2: Odd number 0: 1 bit Communication stop bit * Sets the stop bit for RS-485 communication. 0 1: 2 bits Sets the transmission waiting time for RS-485 Transmission waiting time * 0 to 1,000.0 ms 10.0 communication. Sets the condition in which a communication timeout 0: Not monitored Communication timeout * 0 occurs in RS-485 communication. 1 to 10,000 ms Sets the condition in which a RS-485 communication error alarm generates. A communication error alarm Communication error alarm 1 to 10 times 3 generates after a RS-485 communication error has occurred by the number of times set here.
** Set this parameter when Modbus RTU Protocol is used.
85 Related functions 5 Related functions
This chapter explains the useful functions that facilitate operation, functions that become available when an encoder is connected, and the like.
5-1 Position control
The driver has an internal oscillating-pulse counter. The command position can be read from this counter using the MEXE02, OPX-2A or RS-485 communication. You can also check the command position by counting the number of times a PLS-OUT or DIR-OUT output signal has been output. The control range of command positions is −2,147,483,648 to 2,147,483,647. The command position will be cleared to 0 once the return-to-home operation ends successfully. If a preset is performed using the P-PRESET input, the command position will change to the value set in the “Preset position” parameter. If an encoder is connected and the “Stepout detection” parameter is set to “enable”, the command position will be refreshed by the encoder counter value while the motor is not excited.
5-2 Encoder input
•• You can use the MEXE02, OPX-2A or RS-485 communication command’s “encoder counter” to read the 90° phase 3 Operation and setting type difference signal that is input from the encoder. The read value has been multiplied by 1. •• The encoder counter can be cleared to 0 by executing the RS-485 communication command’s “clear counter.” Also, a successful completion of return-to-home operation resets the encoder counter to 0. •• Executing the MEXE02, OPX-2A or RS-485 communication command’s “preset encoder counter” changes the encoder counter value to the one set as the “encoder counter preset value.” •• When an encoder is connected, the misstep detection function becomes available. Take note that the encoder input is counted even when the misstep detection function is not used.
Perform a counter clear or encoder counter preset while the motor is stopped.
Encoder input specifications
Input frequency 100 kHz max. A-phase Counting range −2,147,483,648 to +2,147,483,647 pulse B-phase Counting mode 90° phase difference input, multiplied by 1 Interface Differential line receiver (26C32 or equivalent) Input width 1 ms or more Z-phase Interface Differential line receiver (26C32 or equivalent) Encoder cable length 10 m (32.8 ft.) max. *
** If you want to extend the lead wires between the encoder and driver, use wires of AWG24 to 22 (0.2 to 0.3 mm2). Increment Decrement ENC-A+ ENC-A+
ENC-A- ENC-A-
ENC-B+ ENC-B+
ENC-B- ENC-B- Encoder Encoder 234 432 counter counter
This example assumes that the “Motor rotation direction” parameter is set to “+direction=CW.” If this parameter is set to “+direction=CCW”, the counter value will decrease with each increment, and increase with each decrement.
86 Related functions
5-3 Misstep detection function
This function becomes effective when an encoder is connected. Specifically, the deviation between the command position and encoder counter is monitored. The sub-functions specified below become available when the “Stepout detection” parameter is set to “enable.” zz Deviation error detection When the deviation reaches the value set in the “Stepout detection band” parameter (initial value: 7.2°), a deviation error will be recognized. If the base step angle of the motor is 0.72°, set the value of the “Stepout detection band” parameter to 7.2°. If the base step angle of the motor is 0.36°, set the value of the “Stepout detection band” parameter to 3.6°. Deviation error detection will start after the motor has remained excited for 500 ms. This function is disabled during return to mechanical home operation. zz STEPOUT output This signal notifies a deviation error. Assign the STEPOUT output to one of the OUT0 to OUT4 outputs. zz Alarm/warning You can cause an alarm or warning to be generated upon detection of a deviation error. •• Generate an excessive position deviation alarm: Set the “Stepout detection action” parameter to “alarm.” •• Generate an excessive position deviation warning: Set the “Stepout detection action” parameter to “warning.” •• Do not generate an alarm or warning: Set the “Stepout detection action” parameter to “no operation.” zz Command position update
The command position is corrected by the encoder counter while the motor is not excited. The command position 3 Operation and setting type will still be refreshed even when the motor output shaft is turned by an external force while the motor excitation is stopped.
How to recover from deviation error Perform one of the following operations to recover from the deviation error: •• Stop the motor excitation. •• Perform return to mechanical home. •• Clear the counter. When the “Stepout detection action” parameter is set to “alarm” When a deviation error is detected, an excessive position deviation alarm will generate. In this case, reset the alarm by following the procedure below: 1. Stop the motor excitation or clear the counter to recover from the deviation error. 2. Turn the ALM-RST input ON to reset the alarm. 3. Perform return-to-home operation, if necessary.
If an excessive position deviation alarm generates, turning the ALM-RST input ON alone will not reset the alarm. Be sure to recover from the deviation error first, and then reset the alarm.
Encoder electronic gear settings Even when the motor resolution is different from the encoder resolution, you can still detect a deviation error by setting the encoder electronic gears. The encoder electronic gears are used to determine a deviation error and will not affect the encoder counter value.
Parameter Description Set the encoder resolution. Set to 500 if the encoder pulse count per motor Encoder electronic gear A revolution is 500 P/R. Note that the resolution is 500 P/R for motors with encoder. Set the motor resolution. Set to 1,000 if the pulse count required for one motor Encoder electronic gear B revolution is 1,000 P/R.
87 Related functions
zz Setting example 1 A setting example where the base step angle is 0.72° and encoder resolution is 500 P/R is given below.
“Encoder electronic “Encoder electronic Step angle Number of divisions gear A “ parameter gear B“ parameter 0.72° 1 500 0.36° 2 1,000 0.288° 2.5 1,250 0.18° 4 2,000 0.144° 5 2,500 0.09° 8 4,000 0.072° 10 5,000 0.036° 20 10,000 500 0.0288° 25 12,500 0.018° 40 20,000 0.0144° 50 25,000 0.009° 80 40,000 0.0072° 100 50,000 0.00576° 125 62,500
3 Operation and setting type 0.0036° 200 100,000 0.00288° 250 125,000
zz Setting example 2 A setting example where the base step angle is 0.36° and encoder resolution is 500 P/R is given below.
“Encoder electronic “Encoder electronic Step angle Number of divisions gear A “ parameter gear B“ parameter 0.36° 1 1,000 0.18° 2 2,000 0.144° 2.5 2,500 0.09° 4 4,000 0.072° 5 5,000 0.045° 8 8,000 0.036° 10 10,000 0.018° 20 20,000 500 0.0144° 25 25,000 0.009° 40 40,000 0.0072° 50 50,000 0.0045° 80 80,000 0.0036° 100 100,000 0.00288° 125 125,000 0.0018° 200 200,000 0.00144° 250 250,000
88 Related functions
••The accuracy of deviation varies depending on the operating speed and load. Be sure to check the deviation on the actual system. ••If you are providing the encoder on your own and installing it to the motor, take note that the accuracy of deviation error detection is also affected by the encoder resolution and assembly accuracy. Be sure to check the deviation on the actual system. ••If misstep occurs, the home position on the equipment side deviates from the home position recognized by the driver. If the operation is continued in this condition, the equipment may be damaged. Accordingly, take prompt actions if misstep is detected. ••If the step angle has been changed, be sure to change the value of the “Encoder electronic gear B” parameter accordingly. Similarly if the encoder resolution has changed, be sure to change the value of the “Encoder electronic gear A” parameter accordingly. If the gears are not set properly, the command position will not be updated correctly and a deviation error will be detected.
Resolution If the misstep function is used, use of an encoder with a resolution of 500 P/R.
If you are providing the encoder on your own, use the one that meets the specifications on p.86. 3 Operation and setting type
89 3 Operation and setting type
90 4 Method of control via I/O
This part explains when the operation is controlled via I/O after setting the operation data and parameters by the MEXE02 or OPX-2A.
Table of contents
1 Guidance...... 92 2 Operation data...... 95 3 Parameter...... 96 3-1 Parameter list...... 96 3-2 I/O parameter...... 97 3-3 Motor parameter...... 98 3-4 Speed parameter...... 98 3-5 Return-to-home parameter...... 98 3-6 Alarm/warning parameter...... 99 3-7 Common parameter...... 99 3-8 Communication parameter...... 99 3-9 Operation setting parameter...... 100 4 Timing charts...... 101 Guidance 1 Guidance
If you are new to the CRK Series built-in controller type, read this section to understand the operating methods along with the operation flow.
Before operating the motor, check the condition of the surrounding area to ensure safety.
STEP 1 Check the installation and connection
PC in which the MEXE02 has been installed OPX-2A
Or
Check Check MEXE02 or OPX-2A connection 4 Method of control4 Method via I/O Motor connection
Check Motor and driver Master controller CN4 connector lead wires * installation Check Power supply connection Check Grounding START input, STOP input, M0 input connection
** Included item.
92 Guidance
STEP 2 Turn on the power supply and set the operation data
MEXE02 OPX-2A
Or
Using the MEXE02 or OPX-2A, set the operation data corresponding to one motor revolution under operation data No.1. Position: 500 step Operating speed: 1,000 Hz
Turn power supply on.
Grounding 4 Method of control4 Method via I/O
STEP 3 Operate the motor
MEXE02 OPX-2A
Or
4. Check the motor rotates according to the setting.
1. Turn the STOP input ON. 2. Turn the M0 input ON to select operation data No.1. 3. Turn the START input ON.
Grounding
93 Guidance
STEP 4 Were you able to operate the motor properly?
How did it go? Were you able to operate the motor properly? If the motor does not function, check the following points: •• Is the STOP input ON? (factory setting: normally closed) •• Is any alarm present? •• Are the power supply and motor connected securely? For more detailed settings and functions, refer to “3 Parameter” on p.96. 4 Method of control4 Method via I/O
94 Operation data 2 Operation data
Up to 63 operation data can be set (data Nos.1 to 63). If the data is changed, a recalculation and setup will be performed after the operation is stopped.
Name Setting range Initial value Position No.1 to −8,388,608 to +8,388,607 step 0 Position No.63 Operating speed No.1 to 0 to 500,000 Hz 1,000 Operating speed No.63 Operation mode No.1 0: INC (Incremental) to 0 1: ABS (Absolute) Operation mode No.63 Operation function No.1 0: Single-motion to 1: Linked-motion 0 Operation function No.63 2: Linked-motion 2 Acceleration rate No.1 * to Acceleration rate No.63 * 0.001 to 1,000.000 ms/kHz 30.000 Deceleration rate No.1 * to Deceleration rate No.63 * 4 Method of control4 Method via I/O Sequential positioning No.1 0: Disable to 0 1: Enable Sequential positioning No.63 Dwell time No.1 to 0 to 50,000 (1=0.001 s) 0 Dwell time No.63
** This item is effective when the “Acceleration/deceleration type” parameter is set to “separate.” If this parameter is set to “common”, the values of the “Common acceleration” and “Common deceleration” parameters will be used (initial value: separate).
95 Parameter 3 Parameter
3-1 Parameter list
Application parameter
••START input mode ••Data No. input mode ••I/O STOP input ••AWO contact configuration ••STOP action ••Hardware overtravel detection ••STOP contact configuration ••LS contact configuration ••C-ON logic configuration ••HOMES contact configuration ••OUT1 signal mode selection ••SLIT contact configuration I/O parameter (p.97) ••OUT2 signal mode selection ••Overtravel action ••OUT3 signal mode selection ••Preset position ••OUT4 signal mode selection ••Area 1 ••HOME/P-PRESET input switching ••Area 2 ••Motor excitation mode ••Encoder counter preset value ••HOME/FWD/RVS input mode Motor parameter (p.98) ••Operating current ••Standstill current
4 Method of control4 Method via I/O ••Common acceleration rate ••JOG operating speed ••Common deceleration rate ••JOG acceleration (deceleration) rate Speed parameter (p.98) ••Starting speed ••JOG starting speed ••Acceleration (deceleration) rate type ••Home-seeking mode ••Starting direction of home-seeking ••Operating speed of home-seeking ••SLIT detection with home-seeking Return-to-home parameter ••Acceleration (deceleration) rate of ••TIM signal detection with home- (p.98) home-seeking seeking ••Starting speed of home-seeking ••Backward steps in 2-sensor mode ••Position offset of home-seeking home-seeking Alarm/warning parameter ••Stepout detection band ••Overheat warning (p.99) ••Overvoltage warning ••Software overtravel ••Communication timeout action ••Positive software limit ••Receive period Common parameter (p.99) ••Negative software limit ••Response interval ••Display mode of the data setter speed ••Receive monitoring ••The data setter editing mode ••Stepout detection action
System parameter
••Communication axis number ••Transmission waiting time Communication parameter ••Communication protocol ••Communication timeout (p.99) ••Communication parity ••Communication error alarm ••Communication stop bit ••Motor rotation direction ••Encoder electronic gear A Operation setting parameter ••Stepout detection ••Encoder electronic gear B (p.100) ••Motor step angle
When a system parameter has been changed, the new parameter will become effective after the power is cycled.
96 Parameter
3-2 I/O parameter
Parameter name Setting range Initial value 0: RS-485 communication START input mode *1 1 1: I/O 0: Disable I/O STOP input *1 *2 1 1: Enable 0: Immediate stop 1: Decelerate stop STOP action 1 2: Immediate stop & Current OFF 3: Decelerate stop & Current OFF 0: Make (N.O.) STOP contact configuration 1 1: Break (N.C.) 0: 0=Not excited, 1=Excited C-ON logic configuration *3 0 1: 0=Excited, 1=Not excited OUT1 signal mode selection 5 OUT2 signal mode selection 7 See table next. OUT3 signal mode selection 8 OUT4 signal mode selection 9 0: HOME HOME/P-PRESET input switching 0 1: P-PRESET Motor excitation mode *1 0: RS-485 communication HOME/FWD/RVS input mode *1 1 1: I/O Data No. input mode *1 of control4 Method via I/O 0: Make (N.O.) AWO contact configuration 0 1: Break (N.C.) 0: Disable Hardware overtravel detection *4 1 1: Enable LS contact configuration 0: Make (N.O.) HOMES contact configuration 0 1: Break (N.C.) SLIT contact configuration 0: Immediate stop Overtravel action 0 1: Decelerate stop Preset position Area 1 −8,388,608 to +8,388,607 step 0 Area 2 Encoder counter preset value *5
*1 Set the parameter when controlling the system via RS-485 communication. *2 If this parameter is disabled, the I/O STOP input will become ineffective and only the stop input received via RS-485 communication will become effective. *3 When “Motor excitation mode” parameter is set to “RS-485 communication”, the excitation condition of the motor at the power ON varies depending on the “C-ON logic configuration” parameter. The motor is not excited if the “C-ON logic configuration” parameter is set to “0,” and excited if the parameter is set to “1.” *4 Even when this parameter is disabled, the ±LS will still become effective during a return-to-home operation. *5 This parameter is used when an encoder is connected. Setting range of “OUT signal mode selection” parameter
5: AREA 8: WNG 11: R-OUT1 14: O.H. 6: TIM 9: HOME-P 12: R-OUT2 15: R-OUT3 7: READY 10: ZSG * 13: STEPOUT * 16: R-OUT4
** This signal is used when an encoder is connected.
97 Parameter
3-3 Motor parameter
Parameter name Setting range Initial value Operating current 5 to 100% 100 Standstill current 5 to 50% 50
••Decrease the operating current and standstill current when there is an allowance in the motor torque and you wish to reduce vibration during operation or suppress heat generation from the motor. However, be careful of an excessive decrease in current, since the motor torque and holding brake force will drop in rough proportion to the operating current. ••The standstill current is the rated current (100%) multiplied by the standstill current ratio.
3-4 Speed parameter
Parameter name Setting range Initial value Common acceleration rate 0.001 to 1,000.000 ms/kHz 30.000 Common deceleration rate Starting speed 100 1 to 500,000 Hz JOG operating speed 1,000 JOG acceleration/deceleration rate 0.001 to 1,000.000 ms/kHz 30.000 JOG starting speed 1 to 500,000 Hz 100
4 Method of control4 Method via I/O 0: Common Acceleration/deceleration type 0 1: Separate
3-5 Return-to-home parameter
Parameter name Setting range Initial value 0: 2 sensors Home-seeking mode 1 1: 3 sensors Operating speed of home-seeking 1 to 500,000 Hz 1,000 Acceleration/deceleration rate of home-seeking 0.001 to 1,000.000 ms/kHz 30.000 Starting speed of home-seeking 1 to 500,000 Hz 100 Position offset of home-seeking −8,388,608 to +8,388,607 step 0 0: Negative direction Starting direction of home-seeking 1 1: Positive direction 0: Disable SLIT detection with home-seeking 0 1: Enable 0: Disable TIM signal detection with home-seeking 1: Enable (TIM) 0 2: Enable (ZSG) ∗ Backward steps in 2-sensor mode home-seeking 0 to 32,767 step 200
** This signal is used when an encoder is connected.
98 Parameter
3-6 Alarm/warning parameter
Parameter name Setting range Initial value Stepout detection band * 0.1 to 360.0 deg 7.2 Overvoltage warning 25.0 to 35.0 V 31.0 Overheat warning 40 to 85 °C 85
** This signal is used when an encoder is connected.
3-7 Common parameter
Parameter name Setting range Initial value 0: Disable Software overtravel 1 1: Enable Positive software limit 8,388,607 −8,388,608 to +8,388,607 step Negative software limit −8,388,608 0: Signed Display mode of the data setter speed 0 1: Absolute 0: Disable The data setter editing mode *1 1 1: Enable 0: Immediate stop Communication timeout action 1 1: Decelerate stop 0: Function disabled Receive period *2 0 of control4 Method via I/O 0.01 to 9.99 sec. Response interval *2 0 to 1,000 ms 50 Receive monitoring *2 0.01 to 9.99 sec. 0.10 0: No operation (alarm/warning not present) Stepout detection action *2 1: Warning 0 2: Alarm
*1 Set this parameter when GW Protocol Version 1 is used. *2 This parameter is used when an encoder is connected.
3-8 Communication parameter
Parameter name Setting range Initial value Communication axis number 0 to 31 15 0: Modbus RTU Communication protocol 0 1: GW Ver.1 0: None Communication parity * 1: Even number 1 2: Odd number 0: 1 bit Communication stop bit * 0 1: 2 bits Transmission waiting time * 0 to 1,000.0 ms 10.0 0: Not monitored Communication timeout * 0 1 to 10,000 ms Communication error alarm 1 to 10 times 3
** Set this parameter when Modbus RTU Protocol is used.
99 Parameter
3-9 Operation setting parameter
Parameter name Setting range Initial value 0: +direction=CCW Motor rotation direction 1 1: +direction=CW 0: Disable Stepout detection * 0 1: Enable Motor step angle See table next. 0 Encoder electronic gear A * 1 to 250,000 500 Encoder electronic gear B *
** When an encoder is connected, this parameter is used in the misstep detection function. It does not affect the encoder counter value. zz Setting value of the “Motor step angle” parameter If the base step angle of the motor is 0.72° If the base step angle of the motor is 0.36° Setting Step angle Number of divisions Setting Step angle Number of divisions 0 0.72° 1 0 0.36° 1 1 0.36° 2 1 0.18° 2 2 0.288° 2.5 2 0.144° 2.5 3 0.18° 4 3 0.09° 4 4 0.144° 5 4 0.072° 5 5 0.09° 8 5 0.045° 8 4 Method of control4 Method via I/O 6 0.072° 10 6 0.036° 10 7 0.036° 20 7 0.018° 20 8 0.0288° 25 8 0.0144° 25 9 0.018° 40 9 0.009° 40 10 0.0144° 50 10 0.0072° 50 11 0.009° 80 11 0.0045° 80 12 0.0072° 100 12 0.0036° 100 13 0.00576° 125 13 0.0028° 125 14 0.0036° 200 14 0.0018° 200 15 0.00288° 250 15 0.00144° 250
••Step angles are theoretical values. ••With the geared type, the value of “step angle/gear ratio” becomes the actual step angle. ••The base step angle is 0.36° for high-resolution type motors.
100 Timing charts 4 Timing charts
Positioning operation When the power is turned on and the STOP input is turned ON (normally closed), the READY output will turn ON and input of the START input signal will become possible. ON Power supply input OFF ON STOP input *1 OFF 4 ms or more4 ms or more ON START input OFF 4 ms or 4 ms or 4 ms or more more more ON M0 to M5 input OFF 1 s or less ON ALM output OFF 6 ms or less Whichever 1 s or less *2 is longer 0 s or more 6 ms or less 6 ms or less
ON of control4 Method via I/O READY output OFF 6 ms or less 6 ms or less ON MOVE output OFF 1 s or less 0 s or more ON Motor excitation command OFF *3
Motor operation command
*1 When the STOP input logic is normally closed (factory setting). *2 If the "Stepout detection" parameter is set to "enable," this period becomes 1.5 s or less. *3 The specific time ariesv depending on the command speed.
101 Timing charts
Continuous operation When the power is turned on and the STOP input is turned ON (normally closed), the READY output will turn ON and input of the FWD (RVS) input signal will become possible. ON Power supply input OFF ON STOP input *1 OFF ON FWD input (RVS input) OFF ON M0 to M5 input OFF 1 s or less ON ALM output OFF 6 ms or less Whichever 1 s or less *2 is longer
0 s or more 6 ms or less
READY output ON OFF 6 ms or less ON MOVE output OFF 1 s or less 0 s or more ON Motor excitation command OFF
4 Method of control4 Method via I/O *3 *3
Motor operation command
*1 When the STOP input logic is normally closed (factory setting). *2 If the "Stepout detection" parameter is set to "enable," this period becomes 1.5 s or less. *3 The specific time ariesv depending on the command speed.
102 5 Method of control via Modbus RTU (RS-485 communication)
This part explains how to control from the master controller via RS-485 communication. The protocol for the RS-485 communication is the Modbus protocol.
Table of contents
1 Guidance...... 104 8 Register address list...... 119 2 Communication specifications...... 106 8-1 Register address types...... 119 8-2 Operation area...... 120 3 Setting the switches...... 107 8-3 Maintenance area...... 123 4 Setting the RS-485 8-4 Monitor area...... 124 communication...... 109 8-5 Parameter area...... 126 5 Communication mode and 8-6 Operation data area...... 129 communication timing...... 110 9 Group send...... 131 5-1 Communication mode...... 110 10 Detection of communication 5-2 Communication timing...... 110 errors...... 133 6 Message...... 111 10-1 Communication errors...... 133 6-1 Query...... 111 10-2 Alarms and warnings...... 133 6-2 Response...... 113 11 Timing charts...... 134 7 Function code...... 115 12 Example of communication 7-1 Reading from a holding register(s)...... 115 setting...... 136 7-2 Writing to a holding register...... 116 12-1 Positioning operation...... 136 7-3 Diagnosis...... 116 12-2 Continuous operation...... 138 7-4 Writing to multiple holding registers.....117 12-3 Return-to-home operation...... 139 7-5 Control method selection...... 118 Guidance 1 Guidance
The Modbus protocol is simple and its specification is open to the public, so this protocol is used widely in industrial applications. Modbus communication is based on the single-master/multiple-slave method. Only the master can issue a query (command). Each slave executes the requested process and returns a response message. If you are new to the CRK Series built-in controller type, read this section to understand the operating methods along with the operation flow. This is an example how to operate the motor based on the operation data and parameters set to the driver by the master controller.
Before operating the motor, check the condition of the surrounding area to ensure safety.
STEP 1 Check the installation and connection
Master controller
Check RS-485 communication cable connection Check Motor connection
Check Motor and CN4 connector lead wires * driver installation 5 Method of control communication) (RS-485 5 Method RTU via Modbus Check Power supply Grounding connection
** Included item.
STEP 2 Set the switches
Set the terminal resistor as necessary. ON Master controller
Set the baud rate, connection destination and slave address.
Set the slave address Set the connection destination (ON: General-purpose master device) Set the baud rate (example: 9,600 bps) Grounding
104 Guidance
STEP 3 Turn on the power supply and set the parameters
Master controller
Check that the following parameters of the driver and those of the master controller are the same. Communication protocol : 0 (Modbus RTU) Communication parity : 1 Communication stop bit : 0 Transmission waiting time : 100
Set the following parameters via RS-485 communication. Turn power supply on START input mode : 0 (RS-485 communication) HOME/FWD/RVS input mode : 0 (RS-485 communication) Data No. input mode : 0 (RS-485 communication) Grounding Motor excitation mode : 0 (RS-485 communication) I/O STOP input : 0 (Disable)
Check that the parameters of the driver and those of the master controller are the same. Use the MEXE02 or OPX-2A when changing the driver parameters.
STEP 4 Cycle the power
System parameters will become effective only after the power is cycled. If you have changed any of the system parameters, be sure to cycle the power.
STEP 5 Operate the motor 5 Method of control communication) (RS-485 5 Method RTU via Modbus
Master controller
1. Send operation data from the master controller. 2. Send an operation command. 3. Check the motor rotates according to the setting.
Grounding
STEP 6 Were you able to operate the motor properly?
How did it go? Were you able to operate the motor properly? If the motor does not function, check the following points: •• Is any alarm present? •• Are the power supply, motor and RS-485 communication cable connected securely? •• Are the slave address, baud rate and terminal resistor set correctly? •• Is the C-ERR LED lit? •• Is the C-DAT LED lit? For more detailed settings and functions, refer to the following pages.
105 Communication specifications 2 Communication specifications
In conformance with EIA-485, straight cable Electrical characteristics Use a twisted pair cable (TIA/EIA-568B CAT5e or higher is recommended) and keep the total wiring distance including extension to 50 m (164 ft.) or less. * Half duplex, Asynchronous mode (data: 8 bits, stop bit: 1 bit/2 bits, parity: none/even Communication mode number/odd number) Transmission rate Selectable from 9,600 bps, 19,200 bps, 38,400 bps, 57,600 bps and 115,200 bps. Protocol Modbus RTU mode Connection pattern Up to 31 drivers can be connected to one master controller.
** If the motor cable or power supply cable generates an undesirable amount of noise depending on the wiring or configuration, shield the cable or install a ferrite core.
Connection example
Master controller Terminal resistor (SW3): ON RS-485 communication cable
Terminal resistor 5 Method of control communication) (RS-485 5 Method RTU via Modbus
Grounding Grounding Grounding Address number 1 Address number 2Address number 31
Master controller RS-485 Driver 1 TR+ TR- *1 GND SW3 TR+ 120 Ω TR- GND 0 V 0 V *3 Driver 2 TR+ TR- GND SW3 TR+ 120 Ω TR- GND 0 V *3 Driver 31 TR+ TR- *1 Terminal resistor 120 Ω GND SW3 *2 120 Ω *2 Turn the terminal resistor (SW3) to ON. *3 The GND line is used in common 0 V *3 with CN1 (not insulated).
106 Setting the switches 3 Setting the switches
Address number setting switch (SW1) Set the connection destination. (SW2-No.4) Set the transmission rate. (SW2-Nos.1 to 3)
Be sure to turn off the driver power before setting the switches. If the switches are set while the power is still on, the new switch settings will not become effective until the driver power is cycled.
Address number (slave address) Using the address number setting switch (SW1) and “Communication axis number” parameter, set the address number (slave address). If SW1 is set to “F,” the address number (slave address) set in the “Communication axis number” parameter is selected (initial value: 15). Make sure each address number (slave address) you set for each driver is unique. Address number (slave address) 0 is reserved for broadcasting, so do not use this address. Factory setting 0 (broadcast) 5 Method of control communication) (RS-485 5 Method RTU via Modbus SW1 Slave address SW1 Slave address 0 Broadcast 8 8 1 1 9 9 2 2 A 10 3 3 B 11 4 4 C 12 5 5 D 13 6 6 E 14 Setting value of “Communication 7 7 F axis number” parameter ∗
** The default value of the “Communication axis number” parameter is “15.” Set the “Communication axis number” parameter using the MEXE02 or OPX-2.
Setting the connection device Set the SW2-No.4 of the function setting switch to ON. The Modbus protocol is selected. Factory setting OFF
107 Setting the switches
Baud rate Using the Nos.1 to 3 of the function setting switch (SW2), set the baud rate. The baud rate to be set should be the same as the baud rate of the master device. Factory setting All ON (625,000 bps)
Baud rate (bps) SW2-No.3 SW2-No.2 SW2-No.1 9,600 OFF OFF OFF 19,200 OFF OFF ON 38,400 OFF ON OFF 57,600 OFF ON ON 115,200 ON OFF OFF
Make sure the baud rate does not exceed 115,200 bps. Also note that although switch combinations other than those specified above are also available, such other switch combinations cannot be used to communicate with the master device. Accordingly, do not set the switches other than as specified above.
Termination resistor Use a termination resistor for the driver located farthest away (positioned at the end) from the master controller. Turn the terminal resistor setting switch (SW3) ON to set the terminal resistor for RS-485 communication (120 Ω). Factory setting OFF (termination resistor disabled)
1 N.C. 2 GND 3 TR+ 4 N.C. 5 N.C. 5 Method of control communication) (RS-485 5 Method RTU via Modbus 6 TR- 7 N.C. 8 N.C.
Terminal resistor setting 1 N.C. switch (SW3) 2 GND SW3 3 TR+ OFF 4 N.C. 120 Ω 5 N.C. 6 TR- 7 N.C. ON 8 N.C. 0 V * Termination resistor SW3 (120 Ω) ** The GND line is used in common with CN1 (not insulated). OFF Disabled ON Enabled
108 Setting the RS-485 communication 4 Setting the RS-485 communication
Set the following parameters using the MEXE02, OPX-2A or via RS-485 communication.
Parameter name Setting range Initial value Description 0: None Communication 1: Even number 1 Sets the parity for RS-485 communication. parity 2: Odd number Communication 0: 1 bit 0 Sets the stop bit for RS-485 communication. stop bit 1: 2 bits Transmission Sets the transmission waiting time for RS-485 0 to 1,000.0 ms 10.0 waiting time communication. Sets the condition in which a communication timeout Communication 0 to 10,000 ms 0 occurs in RS-485 communication. It is not monitored when timeout the set value is 0. Sets the condition in which a RS-485 communication error Communication alarm generates. A communication error alarm generates 1 to 10 times 3 error alarm after a RS-485 communication error has occurred by the number of times set here. 5 Method of control communication) (RS-485 5 Method RTU via Modbus
109 Communication mode and communication timing 5 Communication mode and communication timing
5-1 Communication mode
Modbus protocol communication is based on the single-master/multiple-slave method. Under this protocol, messages are sent in one of two methods. zz Unicast mode The master sends a query to only one slave. The slave executes the Master Query process and returns a response. Slave Response
zz Broadcast mode If slave address 0 is specified on the master, the master can send a query to all slaves. Each slave executes the process, but does not return Master Query a response. Slave No response
5-2 Communication timing
Tb1 Tb3 (Broadcast) C3.5 Tb2 (Tb4) * C3.5
5 Method of control communication) (RS-485 5 Method RTU via Modbus
Master Query Query Slave Response
** If Tb2 (transmission waiting time) < Tb4 (processing time), a response is returned after Tb4+C3.5.
Character Name Description Intervals between received messages are monitored. If no message could be received Communication Tb1 after the time set in the "Communication timeout" parameter, a communication timeout timeout alarm generates. The time after the slave switches its communication line to the transmission mode Transmission upon receiving a query from the master, until it starts sending a response. Sets using Tb2 waiting time the "Transmission waiting time" parameter. The actual transmission waiting time corresponds to the silent interval (C3.5) + transmission waiting time (Tb2). Broadcasting The time until the next query is sent in broadcasting. A time equivalent to or longer Tb3 interval than the silent interval (C3.5) plus 5 ms is required. Be sure to provide a waiting time of 3.5 characters or more. If this waiting time is less C3.5 Silent interval than 3.5 characters long, the driver cannot respond. See the following table for transmission waiting time. The time to process a received message. The specific time varies depending on the Tb4 Processing time length of the received message. The maximum processing time is 1.5 ms.
Transmission waiting time of the "silent interval (C3.5)"
Transmission rate (bps) Transmission waiting time 9,600 4 ms or more 19,200 38,400 2.5 ms or more 57,600 115,200
110 Message 6 Message
The message format is shown below.
Master Query Slave Slave address Slave address Function code Response Function code Data Data Error check Error check
6-1 Query
The query message structure is shown below.
Slave address Function code Data Error check 8 bits 8 bits N×8 bits 16 bits
Slave address Specify the slave address (unicast mode). If the slave address is set to 0, the master can send a query to all slaves (broadcast mode).
Function code The function codes and message lengths supported by the CRK Series built-in controller type are as follows.
Message length of control communication) (RS-485 5 Method RTU via Modbus Function code Description Broadcast Query Response 03h Read from a holding register(s). 8 7 to 25 Impossible 06h Write to a holding register. 8 8 Possible 08h Perform diagnosis. 8 8 Impossible 10h Write to multiple holding registers. 11 to 29 8 Possible
Data Set data associated with the selected function code. The specific data length varies depending on the function code.
Error check In the Modbus RTU mode, error checks are based on the CRC-16 method. The slave calculates a CRC-16 of each received message and compares the result against the error check value included in the message. If the calculated CRC-16 value matches the error check value, the slave determines that the message is normal. zz CRC-16 calculation method
1. Calculate an exclusive-OR (XOR) value of the default value of FFFFh and slave address (8 bits). 2. Shift the result of step 1 to the right by 1 bit. Repeat this shift until the overflow bit becomes "1." 3. Upon obtaining "1" as the overflow bit, calculate an XOR of the result of step 2 and A001h. 4. Repeat steps 2 and 3 until a shift is performed eight times. 5. Calculate an XOR of the result of step 4 and function code (8 bits). Repeat steps 2 to 4 for all bytes. The final result gives the result of CRC-16 calculation.
111 Message
zz Example of CRC-16 calculation (slave address: 02h, function code: 07h) The following table is a calculation example when setting the slave address of the first byte to 02h and setting the function code of the second byte to 07h. The result of actual CRC-16 calculation is calculated including the data on and after the third byte.
Description Result Overflow digit Default value in CRC register FFFFh 1111 1111 1111 1111 − First byte 02h 0000 0000 0000 0010 − XOR with default value FFFFh 1111 1111 1111 1101 − First shift to right 0111 1111 1111 1110 1 1010 0000 0000 0001 XOR with A001h − 1101 1111 1111 1111 Second shift to right 0110 1111 1111 1111 1 1010 0000 0000 0001 XOR with A001h − 1100 1111 1111 1110 Third shift to right 0110 0111 1111 1111 0 Fourth shift to right 0011 0011 1111 1111 1 1010 0000 0000 0001 XOR with A001h − 1001 0011 1111 1110 Fifth shift to right 0100 1001 1111 1111 0 Sixth shift to right 0010 0100 1111 1111 1 1010 0000 0000 0001 XOR with A001h − 1000 0100 1111 1110 Seventh shift to right 0100 0010 0111 1111 0 Eighth shift to right 0010 0001 0011 1111 1 1010 0000 0000 0001 XOR with A001h − 1000 0001 0011 1110 5 Method of control communication) (RS-485 5 Method RTU via Modbus 0000 0000 0000 0111 XOR with next byte 07h − 1000 0001 0011 1001 First shift to right 0100 0000 1001 1100 1 1010 0000 0000 0001 XOR with A001h − 1110 0000 1001 1101 Second shift to right 0111 0000 0100 1110 1 1010 0000 0000 0001 XOR with A001h − 1101 0000 0100 1111 Third shift to right 0110 1000 0010 0111 1 1010 0000 0000 0001 XOR with A001h − 1100 1000 0010 0110 Fourth shift to right 0110 0100 0001 0011 0 Fifth shift to right 0011 0010 0000 1001 1 1010 0000 0000 0001 XOR with A001h − 1001 0010 0000 1000 Sixth shift to right 0100 1001 0000 0100 0 Seventh shift to right 0010 0100 1000 0010 0 Eighth shift to right 0001 0010 0100 0001 0 Result of CRC-16 0001 0010 0100 0001 −
112 Message
6-2 Response
Slave-returned responses are classified into three types: normal response, no response, and exception response. The response message structure is the same as the command message structure.
Slave address Function code Data Error check 8 bits 8 bits N×8 bits 16 bits
Normal response Upon receiving a query from the master, the slave executes the requested process and returns a response.
No response The slave may not return a response to a query sent by the master. This condition is referred to as "No response." The causes of no response are explained below. zz Transmission error The slave discards the query and does not return a response if any of the following transmission errors is detected.
Cause of transmission error Description Framing error Stop bit 0 was detected. Parity error A mismatch with the specified parity was detected. Mismatched CRC The calculated value of CRC-16 was found not matching the error check value. Invalid message length The message length exceeded 256 bytes.
zz Other than transmission error A response may not be returned without any transmission error being detected.
Cause Description 5 Method of control communication) (RS-485 5 Method RTU via Modbus If the query was broadcast, the slave executes the requested process but does not Broadcast return a response. The slave address in the query was found not matching the slave address of the Mismatched slave address driver.
Exception response An exception response is returned if the slave cannot execute the process requested by the query. Appended to this response is an exception code indicating why the process cannot be executed. The message structure of exception response is as follows.
Slave address Function code Exception code Error check 8 bits 8 bits 8 bits 16 bits
zz Function code The function code in the exception response is a sum of the function code in the query and 80h. Example) query: 03h → Exception response: 83h zz Example of exception response
Master Query Slave Slave address 01h Slave address 01h Function code 06h Response Function code 86h Register address (upper) 02h Data 03h Register address (lower) 1Eh Error check (lower) 02h Value written (upper) FFh Error check (upper) 61h Value written (lower) FFh Error check (lower) E9h Error check (upper) C4h
113 Message
zz Exception code This code indicates why the process cannot be executed.
Exception Cause Description code The process could not be executed because the function code was invalid. 01h Invalid function · The function code is not supported. · The sub-function code for diagnosis (08h) is other than 00h. The process could not be executed because the data address was invalid. 02h Invalid data address · The address is not supported. The process could not be executed because the data was invalid. · The number of registers is 0. 03h Invalid data · The number of bytes is other than twice the number of registers. · The data is outside the specified range. · The data length is outside the specified range. The process could not be executed because an error occurred at the slave. ••User I/F communication in progress · Downloading or initialization is in progress using the MEXE02 04h Slave error · The OPX-2A is currently connected in a mode other than the monitor mode. ••Non-volatile memory processing in progress · Internal processing was in progress. (S-BSY is ON.) · An EEPROM error alarm was present. 5 Method of control communication) (RS-485 5 Method RTU via Modbus
114 Function code 7 Function code
7-1 Reading from a holding register(s)
This function code is used to read a register (16 bits). Up to 10 successive registers (10×16 bits) can be read. If two registers specifying the upper byte and lower byte (32 bits), respectively, constitute one value, then the two registers must be read simultaneously (example: position, operating speed). If not, an invalid value may be read. If multiple holding registers are read, they are read in order of register addresses.
Example of read Read operation data for positions Nos.1 and 2 of slave address 1.
Description Register address Value read Corresponding decimal Operation data position No.1 (upper) 0402h 0000h 10,000 Operation data position No.1 (lower) 0403h 2710h Operation data position No.2 (upper) 0404h FFFFh −10,000 Operation data position No.2 (lower) 0405h D8F0h
Master Query Slave Slave address 01h Slave address 01h Function code 03h Response Function code 03h Register address Number of data bytes 08h Twice the number of 04h (upper) registers in the query Register address to Value read from register Register address 00h start reading from 02h address (upper) Value read from register
(lower) of control communication) (RS-485 5 Method RTU via Modbus (0402h) Value read from register address 0402h Number of registers 00h 00h address (lower) (upper) Number of registers to Value read from register Number of registers 27h be read from the starting 04h address+1 (upper) Value read from register (lower) register address Value read from register address 0403h 10h (4 registers=0004h) Error check (lower) E4h address+1 (lower) Error check (upper) F9h Value read from register FFh address+2 (upper) Value read from register Value read from register address 0404h FFh address+2 (lower) Value read from register D8h address+3 (upper) Value read from register Value read from register address 0405h F0h address+3 (lower) Error check (lower) 08h Error check (upper) A3h
115 Function code
7-2 Writing to a holding register
This function code is used to write data to a specified register address. If two registers specifying the upper byte and lower byte (32 bits), respectively, constitute one value, refer to “7-4 Writing to multiple holding registers” on p.117.
Example of write Write 80 (50h) as operating current to slave address 2.
Description Resistor address Value written Corresponding decimal Operating current 021Eh 50h 80
Master Query Slave Slave address 02h Slave address 02h Function code 06h Response Function code 06h Register address (upper) 02h Register address (upper) 02h Register address (lower) 1Eh Register address (lower) 1Eh Value write (upper) 00h Value write (upper) 00h Writing to a holding Value written to the register (021Eh) Value write (lower) 50h Value write (lower) 50h register address (021Eh) Error check (lower) E8h Error check (lower) E8h Error check (upper) 7Bh Error check (upper) 7Bh
7-3 Diagnosis
This function code is used to diagnose the communication between the master and slave. Arbitrary data is sent and the returned data is used to determine whether the communication is normal. 00h (reply to query) is the only sub- 5 Method of control communication) (RS-485 5 Method RTU via Modbus function supported by this function code.
Example of diagnosis Send arbitrary data (1234h) to the slave.
Master Query Slave Slave address 03h Slave address 03h Function code 08h Response Function code 08h Sub function code (upper) 00h Sub function code (upper) 00h Sub function code (lower) 00h Sub function code (lower) 00h Data value (upper) 12h Data value (upper) 12h Data value (lower) 34h Data value (lower) 34h Error check (lower) ECh Error check (lower) ECh Error check (upper) 9Eh Error check (upper) 9Eh
116 Function code
7-4 Writing to multiple holding registers
This function code is used to write data to multiple successive registers. Up to 10 registers can be written. If two registers specifying the upper byte and lower byte (32 bits), respectively, constitute one value, then the two registers must be written simultaneously (example: position, operating speed). If not, an invalid value may be written. Registers are written in the order of register addresses. Note that even when an exception response is returned because some data is invalid as being outside the specified range, etc., other data may have been written properly.
Example of write Set the following data as acceleration rate Nos.2 to 4 as part of operation data at slave address 4.
Description Resistor address Value written Corresponding decimal Operation data acceleration rate No.2 (upper) 0904h 0000h 10,000 Operation data acceleration rate No.2 (lower) 0905h 2710h Operation data acceleration rate No.3 (upper) 0906h 0000h 20,000 Operation data acceleration rate No.3 (lower) 0907h 4E20h Operation data acceleration rate No.4 (upper) 0908h 0007h 500,000 Operation data acceleration rate No.4 (lower) 0909h A120h
Master Query Slave Slave address 04h Slave address 04h Function code 10h Response Function code 10h Register address to start Register address (upper) 09h Register address (upper) 09h writing from (0904h) Register address (lower) 04h Register address (lower) 04h Number of registers Number of registers Number of registers to be 00h 00h (upper) (upper) written from the starting Number of registers register address Number of registers 06h
06h of control communication) (RS-485 5 Method RTU via Modbus (6 registers=0006h) (lower) (lower) Twice the number of Number of data bytes 0Ch Error check (lower) 02h registers in the query Value written to register Error check (upper) 03h 00h address (upper) Value written to register Value written to register address 0904h 00h address (lower) Value written to register 27h address+1 (upper) Value written to register Value written to register address 0905h 10h address+1 (lower) Value written to register 00h address+2 (upper) Value written to register Value written to register address 0906h 00h address+2 (lower) Value written to register 4Eh address+3 (upper) Value written to register Value written to register address 0907h 20h address+3 (lower) Value written to register 00h address+4 (upper) Value written to register Value written to register address 0908h 07h address+4 (lower) Value written to register A1h address+5 (upper) Value written to register Value written to register address 0909h 20h address+5 (lower) Error check (lower) 28h Error check (upper) 5Ah
117 Function code
7-5 Control method selection
Communication setting Using the MEXE02 or OPX-2A, set the following parameters .
Parameter name Setting range Initial value Description 0: Modbus RTU Sets the protocol for RS-485 communication. Communication protocol 0 1: GW Ver.1.0 Set “0: Modbus RTU.” 0: None Communication parity 1: Even number 1 Sets the parity for RS-485 communication. 2: Odd number 0: 1 bit Communication stop bit 0 Sets the stop bit for RS-485 communication. 1: 2 bits Sets the transmission waiting time for RS-485 Transmission waiting time 0 to 1,000.0 ms 10.0 communication.
Selection from I/O control and RS-485 communication control Prior to shipment, I/O control is set as the method to select the operation command input method or operation data number. To change this control method to RS-485 communication, change the applicable settings using the MEXE02, OPX-2A or via RS-485 communication. The table next lists the items whose control can be switched between I/O and RS-485 communication. You can use both methods simultaneously, such as controlling the operation via RS-485 communication and inputting a stop signal via I/O.
Method of Method of control via RS-485 This command is used to change Item control via I/O communication the control method. Positioning operation START input START for command 1 (001Eh) START input mode
5 Method of control communication) (RS-485 5 Method RTU via Modbus Excitation control AWO input C-ON for command 1 (001Eh) Motor excitation mode Stop STOP input STOP for command 1 (001Eh) * I/O STOP input Select data No. M0 to M5 input M0 to M5 for command 1 (001Eh) Data number input mode Return-to-home HOME input HOME for command 1 (001Eh) operation Continuous operation FWD input FWD for command 1 (001Eh) HOME/FWD/RVS input mode (forward) Continuous operation RVS input RVS for command 1 (001Eh) (reverse) Reset alarm ALM-RST input Alarm reset (0040h) None (both are always Position preset P-PRESET input Position preset (0048h) effective)
** STOP for command 1 (001Eh) is always effective. Even if the “I/O STOP input” parameter is set to “enable,” operation still stop when STOP is input for command 1 (001Eh).
118 Register address list 8 Register address list
Data set via RS-485 communication is written to the driver’s RAM, but data in the RAM will be cleared once the power is turned off. To save the data set via RS-485 communication to the non-volatile memory, execute “Batch non-volatile memory write.” Note that only operation data and parameters are saved to the non-volatile memory.
8-1 Register address types
•• An attempt to read from an unused address or write-only register address in the following address range will return an invalid value. •• A value written to an unused address or read-only register address in the following address range will be ignored.
Saving to WRITE/ Address Type non-volatile Description READ memory 0000h to 003Fh Operation W/R * Specify operations. Clear alarm or warning records or perform 0040h to 007Fh Maintenance W/R Impossible batch processing of the non-volatile memory. Monitor the command speed, command 0100h to 013Fh Monitor R position, I/O status, etc. 0200h to 027Fh Parameter WRITE/READ parameter. 0300h to 033Fh 0400h to 047Fh 0500h to 057Fh 0600h to 063Fh W/R Possible of control communication) (RS-485 5 Method RTU via Modbus 0700h to 073Fh Operation data WRITE/READ operation data. 0800h to 083Fh 0900h to 097Fh 0A00h to 0A7Fh 0C00h to 0C3Fh
** Including read-only areas.
••An attempt to write operation data or parameters in the following condition may fail. Also, invalid values may be read if operation data or parameters are read in this condition: See “10-1 Communication errors” on p.133 for details · User interface communication in progress · Non-volatile memory processing in progress ••An attempt to clear the history or process the non-volatile memory in the following condition may fail. Note, however, that the non-volatile memory can still be initialized even when an EEPROM error alarm is present: See “10-1 Communication errors” on p.133 for details · User interface communication in progress · Non-volatile memory processing in progress
119 Register address list
8-2 Operation area
Address WRITE/READ Name Initial value 0012h Dwell time for the selected data number 0013h Sequential positioning for the selected data number 0014h Operating mode for the selected data number 0015h Positioning mode for the selected data number 0016h Deceleration rate for the selected data number (upper) 0017h Deceleration rate for the selected data number (lower) 0018h Acceleration rate for the selected data number (upper) W/R 0019h Acceleration rate for the selected data number (lower) − 001Ah Operating speed for the selected data number (upper) 001Bh Operating speed for the selected data number (lower) 001Ch Position for the selected data number (upper) 001Dh Position for the selected data number (lower) 001Eh Command 1 001Fh Command 2 0020h Status 1 R 0021h Status 2 0030h W/R Group −1
Operation data for the selected data number (0012h to 001Dh) Operation data is read or written from/to the selected data number indirectly. The actual area to be read or written in this operation is the area where the operation data is stored. 5 Method of control communication) (RS-485 5 Method RTU via Modbus zz Example) Operation data No.2 is selected 001Ch is written (read) in the exact same manner as 0404h is written (read). 001Dh is written (read) in the exact same manner as 0405h is written (read).
Address WRITE/READ Name 001Ch Position for the operation data No.2 (upper)=0404h W/R 001Dh Position for the operation data No.2 (lower)=0405h
zz Example) Operation data No.3 is started after changing the original operating speed and position By “writing to multiple holding registers” at 001Ah to 001Fh, you can change the operating speed and position for operation data No.3 and start the operation with a single command. Select operation data No.3 and then send the following command.
Address WRITE/READ Name 001Ah Operating speed for the operation data No.3 (upper) 001Bh Operating speed for the operation data No.3 (lower) 001Ch W/R Position for the operation data No.3 (upper) 001Dh Position for the operation data No.3 (lower) 001Eh Command 1
120 Register address list
Command 1 (001Eh) Commands the slave to perform an operation.
Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Upper − − C-ON STOP HOME RVS FWD START Lower − − M5 M4 M3 M2 M1 M0
Signal name Description Setting range Initial value M0 to M5 Specify the operation data number using six bits. 0 to 63: Operation data No. 0 0: No action START Perform positioning operation. 0 1: Start operation *1 Perform continuous operation in the forward FWD 0 direction. 0: Deceleration stop 1: Operation RVS Perform continuous operation in the reverse direction. 0 0: No action HOME Perform return-to-home operation. 0 1: Start operation *1 0: No action STOP Stop the motor. 0 1: Stop Switch the motor excitation setting (excited/not 0: Motor is not excited *2 C-ON 0 excited). 1: Motor is excited *2
*1 Operation starts at the ON edge from 0 to 1. Return the bit to "0" once the operation has started. *2 When the "C-ON logic configuration" parameter is set to "0."
Command 2 (001Fh) Commands the slave to perform an operation.
Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Upper − − − − − − − − of control communication) (RS-485 5 Method RTU via Modbus Lower − − − − R-OUT4 R-OUT3 R-OUT2 R-OUT1
Signal name Description Setting range Initial value These signals set ON/OFF of 0: OFF (photocoupler un-energized) R-OUT1 to R-OUT4 0 R-OUT1 to R-OUT4 outputs. 1: ON (photocoupler energized)
121 Register address list
Status 1 (0020h) Indicates the slave condition.
Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Upper AREA − READY − HOME-P MOVE STEPOUT START_R Lower ALM WNG M5_R M4_R M3_R M2_R M1_R M0_R
Signal name Description Range 0 to 63: Selected operation data M0_R to M5_R Selected operation data number. * number 0: Warning not present WNG A warning is present. 1: Warning present 0: Alarm not present ALM An alarm is present. 1: Alarm present 0: START=OFF START_R Indicates the status of START. * 1: START=ON 0: Deviation error not present STEPOUT The step deviation is abnormal. 1: Deviation error present 0: Motor stopped MOVE Indicates the operating condition of the motor. 1: Motor operating 0: Motor not positioned at home Indicates that the motor is at home position. It can be HOME-P 1: Motor positioned at home used as a home-seeking completion signal. (home-seeking completed) 0: Not ready READY Indicates that the driver is ready. 1: Ready 0: Outside area AREA The motor output shaft is inside the specified range. 1: Inside area
5 Method of control communication) (RS-485 5 Method RTU via Modbus ** START and M0 to M5 can be turned ON/OFF via I/O or RS-485 communication. If these signals are controlled via I/O, the I/O-controlled ON/OFF status is returned. If the signals are controlled via RS-485 communication, the RS-485- communication-controlled ON/OFF status is returned. I/O control is selected as the default prior to shipment.
Status 2 (0021h) Indicates the slave condition.
Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Upper − − − − − − − − Lower − − − ZSG TIM O.H. ENABLE S-BSY
Signal name Description Read range Indicates the internal processing condition as a result 0: Internal processing not in progress S-BSY of RS-485 communication. 1: Internal processing in progress 0: Motor not excited ENABLE Indicates the excitation condition of the motor. 1: Motor excited Indicates whether or not an overheat warning is 0: Overheat warning not present O.H. present. 1: Overheat warning present Indicates the excitation condition of the motor. “1” is 0: TIM not being detected TIM read when the motor is at its excitation home. 1: TIM being detected 0: ZSG not being detected ZSG Indicates the Z-phase condition of the encoder input. 1: ZSG being detected
Group (0030h) See p.131 for group details.
122 Register address list
8-3 Maintenance area
All commands can be read and written (READ/WRITE).
••It takes time to clear the history or read/write the non-volatile memory. The internal processing in-progress signal (S-BSY) remains ON while the processing is being executed. Do not issue maintenance commands while the internal processing is in progress. ••Do not issue maintenance commands while the motor is operating. ••Set “1” for maintenance data. Return it to “0” after the applicable operation is finished.
Address Name Description Setting range 0040h Reset alarm Resets the alarms that are present. 0041h Clear alarm records Clear alarm records. 0042h Clear warning records Clear warning records. Reads the operation data and parameters saved in Batch non-volatile memory the non-volatile memory, to the RAM. All operation 0044h read data and parameters previously saved in the RAM are overwritten. Batch non-volatile memory Writes the operation data and parameters saved in 0045h write the RAM to the non-volatile memory. Resets the operation data and parameters saved in 0046h All data initialization *2 the RAM and non-volatile memory, to their defaults. Presets the command position as the value of the 0048h Preset position 0: Do not execute “Preset position” parameter. 1: Execute Clear communication error 0049h Clears the communication error records. records Presets the encoder counter value as the value of
004Ah Preset encoder counter *1 of control communication) (RS-485 5 Method RTU via Modbus the “Encoder counter preset value” parameter. Clears the command position and encoder counter 004Bh Clear counter value to 0. Internal deviations of the driver are also cleared, so any deviation error, if present, is reset. Resets the operation data saved in the RAM and 004Ch Operation data initialization non-volatile memory, to their defaults. Application parameters Resets the application parameters saved in the 004Dh initialization RAM and non-volatile memory, to their defaults. System parameters Resets the system parameters saved in the RAM 004Eh initialization *2 and non-volatile memory, to their defaults
*1 This resistor address is used when an encoder is connected. *2 The communication axis number, communication protocol, communication parity, communication stop bit and transmission waiting time are not initialized.
123 Register address list
8-4 Monitor area
All commands can be read (READ).
Address Name Description Range 0100h Present alarm Monitors the present alarm code. 0101h Alarm record 1 0102h Alarm record 2 0103h Alarm record 3 0104h Alarm record 4 0105h Alarm record 5 Check the alarm records 1 to 10. 0106h Alarm record 6 0107h Alarm record 7 0108h Alarm record 8 0109h Alarm record 9 010Ah Alarm record 10 − 010Bh Present warning Monitors the present warning code. 010Ch Warning record 1 010Dh Warning record 2 010Eh Warning record 3 010Fh Warning record 4 0110h Warning record 5 Check the warning records 1 to 10. 0111h Warning record 6 0112h Warning record 7 0113h Warning record 8 5 Method of control communication) (RS-485 5 Method RTU via Modbus 0114h Warning record 9 0115h Warning record 10 Present selected operation data Check the operation data number currently 0116h number selected. Check the operation data number corresponding to the data used in the current positioning 0 to 63 operation. This address is used in linked-motion 0117h Present operation data number operation and sequential operation. While the motor is stopped, the last used operation data number is indicated. 0118h Command position (upper) −2,147,483,648 to Monitors the command position. 0119h Command position (lower) 2,147,483,647 step −500,000 to 011Ch Command speed (upper) +500,000 Hz Monitors the current command speed. +: Forward 011Dh Command speed (lower) −: Reverse 0: Stop 011Eh Encoder counter (upper) * −2,147,483,648 to Monitors the encoder counter value. 011Fh Encoder counter (lower) * 2,147,483,647 step Indicates how much of the dwell time used in the 0 to 50,000 0124h Remaining dwell time linked-motion operation 2 remains. (1=0.001 s) 0: OFF 0126h I/O status (upper) (photocoupler Monitor the each I/O signal (CN2) of the driver. un-energized) (See “I/O status (0126h/0127h)” on p.125.) 0127h I/O status (lower) 1: ON (photocoupler energized) Indicates the last received communication error 0128h Communication error code − code.
124 Register address list
Address Name Description Range 0129h Communication error code record 1 012Ah Communication error code record 2 012Bh Communication error code record 3 012Ch Communication error code record 4 012Dh Communication error code record 5 Check the communication error records 1 to 10 − 012Eh Communication error code record 6 that have occurred in the past. 012Fh Communication error code record 7 0130h Communication error code record 8 0131h Communication error code record 9 0132h Communication error code record 10 0133h Driver status (upper) Monitors the driver status (See “Driver status 0: OFF 0134h Driver status (lower) (0133h/0134h).” 1: ON
** This resistor address is used when an encoder is connected. zz I/O status (0126h/0127h)
Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 3 (most significant bit) − − OUT4 OUT3 OUT2 OUT1 ALM MOVE 2 − − − − SLIT HOMES −LS +LS HOME/ 1 − RVS FWD STOP AWO ALM-RST START P-PRESET 0 (least significant bit) − − M5 M4 M3 M2 M1 M0 zz Driver status (0133h/0134h)
Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 5 Method of control communication) (RS-485 5 Method RTU via Modbus 3 (most significant bit) ALMCD 2 ZSG TIM M5_R M4_R M3_R M2_R M1_R M0_R 1 START_R O.H. HOMES SLIT −LS +LS STEPOUT WNG 0 (least significant bit) ENABLE ALM AREA S-BSY READY HOME-P 0MOVE
Signal name of driver status
Signal name Description Range 0: Motor stopped MOVE Indicates the operating condition of the motor. 1: Motor operating 0: Motor not positioned at home Indicates that the motor is at home position. It can be HOME-P 1: Motor positioned at home used as a home-seeking completion signal. (home-seeking completed) 0: Not ready READY Indicates that the driver is ready. 1: Ready Indicates the internal processing condition as a result 0: Internal processing not in progress S-BSY of RS-485 communication. 1: Internal processing in progress 0: Outside area AREA The motor output shaft is inside the specified range. 1: Inside area 0: Alarm not present ALM An alarm is present. 1: Alarm present 0: Motor not excited ENABLE Indicates the excitation condition of the motor. 1: Motor excited 0: Warning not present WNG A warning is present. 1: Warning present 0: Deviation error not present STEPOUT The deviation is abnormal. 1: Deviation error present
125 Register address list
Signal name Description Range +LS Indicates the condition of the I/O +LS input. −LS Indicates the condition of the I/O −LS input. 0: OFF (photocoupler un-energized) SLIT Indicates the condition of the I/O SLIT input. 1: ON (photocoupler energized) HOMES Indicates the condition of the I/O HOMES input. Indicates whether or not an overheat warning is 0: Overheat warning not present O.H. present. 1: Overheat warning present 0: START=OFF START_R Indicates the status of START. * 1: START=ON Indicates the excitation condition of the motor. 0: TIM not being detected TIM “1” is read when the motor is at its excitation home. 1: TIM being detected 0: ZSG not being detected ZSG Indicates the Z-phase condition of the encoder input. 1: ZSG being detected M0_R to M5_R Selected operation data number. * 0 to 63: Operation data number ALMCD Indicates the alarm code of the present alarm. Alarm code
** START and M0 to M5 can be turned ON/OFF via I/O or RS-485 communication. If these signals are controlled via I/O, the I/O-controlled ON/OFF status is returned. If the signals are controlled via RS-485 communication, the RS-485- communication-controlled ON/OFF status is returned. I/O control is selected as the default prior to shipment.
8-5 Parameter area
All commands can be read and written (READ/WRITE).
Application parameters
Address Name Setting range Initial value
5 Method of control communication) (RS-485 5 Method RTU via Modbus 0: RS-485 communication 0200h START input mode 1 1: I/O 0: Disable 0201h I/O STOP input 1 1: Enable 0: Immediate stop 1: Decelerate stop 0202h STOP action 1 2: Immediate stop & Current OFF 3: Decelerate stop & Current OFF 0: Make (N.O.) 0203h STOP contact configuration 1 1: Brake (N.C.) 0: 0=Not excited, 1=Excited 0204h C-ON logic configuration 0 1: 0=Excited, 1=Not excited 0206h OUT1 signal mode selection 5
0207h OUT2 signal mode selection 7 See table on p.128. 0208h OUT3 signal mode selection 8
0209h OUT4 signal mode selection 9 0: HOME 020Ah HOME/P-PRESET input switching 0 1: P-PRESET 020Bh Motor excitation mode 0: RS-485 communication 020Ch HOME/FWD/RVS input mode 1 1: I/O 020Dh Data No. input mode 0: Make (N.O.) 020Eh AWO contact configuration 0 1: Brake (N.C.) 0: Disable 020Fh Hardware overtravel detection 1 1: Enable 0210h LS contact configuration 0: Make (N.O.) 0 0211h HOMES contact configuration 1: Brake (N.C.)
126 Register address list
Address Name Setting range Initial value 0: Make (N.O.) 0212h SLIT contact configuration 0 1: Brake (N.C.) 0: Immediate stop 0213h Overtravel action 0 1: Decelerate stop 0214h Preset position (upper) 0215h Preset position (lower) 0216h Area 1 (upper) 0217h Area 1 (lower) −8,388,608 to +8,388,607 step 0 0218h Area 2 (upper) 0219h Area 2 (lower) 021Ch Encoder counter preset value (upper) 021Dh Encoder counter preset value (lower) 021Eh Operating current 5 to 100% 100 021Fh Standstill current 5 to 50% 50 0224h Common acceleration rate (upper) 0225h Common acceleration rate (lower) 0.001 to 1,000.000 ms/kHz 30.000 0226h Common deceleration rate (upper) 0227h Common deceleration rate (lower) 0228h Starting speed (upper) 100 0229h Starting speed (lower) 1 to 500,000 Hz 0230h JOG operating speed (upper) 1,000 0231h JOG operating speed (lower) 0232h JOG acceleration (deceleration) rate (upper) 0.001 to 1,000.000 ms/kHz 30.000 0233h JOG acceleration (deceleration) rate (lower) 5 Method of control communication) (RS-485 5 Method RTU via Modbus 0234h JOG starting speed (upper) 1 to 500,000 Hz 100 0235h JOG starting speed (lower) 0: Common 0236h Acceleration (deceleration) rate type 0 1: Separate 0: 2 sensors 0237h Home-seeking mode 1 1: 3 sensors 023Ah Operating speed of home-seeking (upper) 1 to 500,000 Hz 1,000 023Bh Operating speed of home-seeking (lower) Acceleration (deceleration) rate of home-seeking 023Ch (upper) 0.001 to 1,000.000 ms/kHz 30.000 Acceleration (deceleration) rate of home-seeking 023Dh (lower) 023Eh Starting speed of home-seeking (upper) 1 to 500,000 Hz 100 023Fh Starting speed of home-seeking (lower) 0240h Position offset of home-seeking (upper) −8,388,608 to +8,388,607 step 0 0241h Position offset of home-seeking (lower) 0: Negative direction 0242h Starting direction of home-seeking 1 1: Positive direction 0: Disable 0243h SLIT detection with home-seeking 0 1: Enable 0: Disable 0244h TIM signal detection with home-seeking 1: Enable (TIM) 0 2: Enable (ZSG) * 0245h Backward steps in 2 sensor mode home-seeking 0 to 32,767 step 200 0246h Stepout detection band * 1 to 3,600 (1=0.1 deg) 72 024Ah Overvoltage warning 250 to 350 (1=0.1 V) 310 024Ch Overheat warning 40 to 85 °C 85
127 Register address list
Address Name Setting range Initial value 0: Disable 0252h Software overtravel 1 1: Enable 0254h Positive software limit (upper) +8,388,607 0255h Positive software limit (lower) −8,388,608 to +8,388,607 step 0256h Negative software limit (upper) −8,388,608 0257h Negative software limit (lower) 0: Signed 0258h Display mode of the data setter speed 0 1: Absolute 0: Disable 0259h The data setter editing mode 1 1: Enable 0: Immediate stop 025Bh Communication timeout action 1 1: Decelerate stop 0: No operation (alarm/warning not resent) 025Ch Stepout detection action * 0 1: Warning 2: Alarm ** Indicates the parameter that is used when an encoder is connected. Setting range of “OUT signal mode selection” parameter
5: AREA 7: READY 9: HOME-P 11: R-OUT1 13: STEPOUT * 15: R-OUT3 6: TIM 8: WNG 10: ZSG * 12: R-OUT2 14: O.H. 16: R-OUT4
** This signal is used when an encoder is connected. System parameters All commands can be read and written (READ/WRITE).
5 Method of control communication) (RS-485 5 Method RTU via Modbus ••To make the new system parameter settings effective, execute “Batch non-volatile memory write” and then cycle the power. ••The communication axis number, communication parity, “Communication stop bit” and “Transmission waiting time” parameters relate to sending/receiving of data through communication. If these parameters are changed and the new settings become effective, communication may be disabled. Exercise due caution.
Address Name Setting range Initial value 0: +direction=CCW 030Eh Motor rotation direction 1 1: +direction=CW 0: Disable 0310h Stepout detection * 0 1: Enable 0311h Motor step angle See table next. 0 0312h Encoder electronic gear A (upper) * 0313h Encoder electronic gear A (lower) * 1 to 250,000 500 0314h Encoder electronic gear B (upper) * 0315h Encoder electronic gear B (lower) * 0316h Communication axis number 0 to 31 15 0: None 0318h Communication parity 1: Even number 1 2: Odd number 0: 1 bit 0319h Communication stop bit 0 1: 2 bits 031Ah Transmission waiting time 1 to 10,000 (1=0.1 ms) 100 0: Not monitored 031Bh Communication timeout 0 1 to 10,000 ms 031Ch Communication error alarm 1 to 10 times 3
** This parameter is used when an encoder is connected.
128 Register address list
zz Setting value of the “Motor step angle” parameter If the base step angle of the motor is 0.72° If the base step angle of the motor is 0.36° Setting Step angle Number of divisions Setting Step angle Number of divisions 0 0.72° 1 0 0.36° 1 1 0.36° 2 1 0.18° 2 2 0.288° 2.5 2 0.144° 2.5 3 0.18° 4 3 0.09° 4 4 0.144° 5 4 0.072° 5 5 0.09° 8 5 0.045° 8 6 0.072° 10 6 0.036° 10 7 0.036° 20 7 0.018° 20 8 0.0288° 25 8 0.0144° 25 9 0.018° 40 9 0.009° 40 10 0.0144° 50 10 0.0072° 50 11 0.009° 80 11 0.0045° 80 12 0.0072° 100 12 0.0036° 100 13 0.00576° 125 13 0.0028° 125 14 0.0036° 200 14 0.0018° 200 15 0.00288° 250 15 0.00144° 250
••Step angles are theoretical values. ••With the geared type, the value of “step angle/gear ratio” becomes the actual step angle. ••The base step angle is 0.36° for high-resolution type motors. 5 Method of control communication) (RS-485 5 Method RTU via Modbus 8-6 Operation data area
All commands can be read and written (READ/WRITE).
Address Name Setting range Initial value 0402h Position No.1 (upper) 0403h Position No.1 (lower) to to −8,388,608 to 8,388,607 step 0 047Eh Position No.63 (upper) 047Fh Position No.63 (lower) 0502h Operating speed No.1 (upper) 0503h Operating speed No.1 (lower) to to 1 to 500,000 Hz 1,000 057Eh Operating speed No.63 (upper) 057Fh Operating speed No.63 (lower) 0601h Positioning mode No.1 0: Incremental to to 0 1: Absolute 063Fh Positioning mode No.63 0701h Operating mode No.1 0: Single-motion to to 1: Linked-motion 0 073Fh Operating mode No.63 2: Linked-motion 2 0801h Sequential positioning No.1 0: Disable to to 0 1: Enable 083Fh Sequential positioning No.63 0902h Acceleration rate No.1 (upper) 0903h Acceleration rate No.1 (lower) to to 0.001 to 1,000.000 ms/kHz 30.000 097Eh Acceleration rate No.63 (upper) 097Fh Acceleration rate No.63 (lower)
129 Register address list
Address Name Setting range Initial value 0A02h Deceleration rate No.1 (upper) 0A03h Deceleration rate No.1 (lower) to to 0.001 to 1,000.000 ms/kHz 30.000 0A7Eh Deceleration rate No.63 (upper) 0A7Fh Deceleration rate No.63 (lower) 0C01h Dwell time No.1 to to 0 to 50,000 (1=0.001 s) 0 0C3Fh Dwell time No.63 5 Method of control communication) (RS-485 5 Method RTU via Modbus
130 Group send 9 Group send
Multiple slaves are made into a group and a command is sent to all slaves in the group at once.
Group composition A group consists of one parent slave and child slaves and Master Query (sent to only the parent slave returns a response. the parent slave) zz Group address Parent slave Response To perform a group send, set a group address to the child slaves to be included in the group. Query (sent to Master The child slaves to which the group address has been set the parent slave) can receive a query sent to the parent slave. Child slave Executes the process but does not send a response. zz Parent slave No special setting is required on the parent slave to perform a group send. The address of the parent slave becomes the group address. When a command is sent to the parent slave from the master, the parent slave executes the requested process and then returns a response (same with the unicast mode). zz Child slave Use a "Group" command to set a group address to each child slave. Change the group in the unicast mode.
Address Setting range Initial value −1: No group specification (Group send is not performed) 0030h −1 1 to 31: Sets a group address. 5 Method of control communication) (RS-485 5 Method RTU via Modbus Function code supporting the group send
Function code Description 10h Write to multiple holding registers.
Master controller
Parent Child Child slave slave slave
Address 1 Address 2 Address 3 "Group" command: -1 "Group" command: 1 "Group" command: 1 (individual)
131 Group send
Start of positioning Start of positioning Master to slave operation of address 1 operation of address 2 Slave to master Response Response from from address 1 address 2
Motor operation at address 1 (parent slave)
Motor operation at address 2 (child slave)
Motor operation at address 3 (child slave) 5 Method of control communication) (RS-485 5 Method RTU via Modbus
132 Detection of communication errors 10 Detection of communication errors
This function detects abnormalities that may occur during RS-485 communication. The abnormalities that can be detected include communication errors, alarms and warnings.
10-1 Communication errors
A communication error record will be saved in the RAM. You can check the communication errors using the MEXE02 or “Communication error record” command via RS-485 communication.
The communication error record will be cleared once the driver power is turned off.
Type of communication error Error code Cause Ref. RS-485 communication error 84h A transmission error was detected. p.113 An exception response (exception code 01h, 02h) Command not yet defined 88h was detected. User interface communication in 89h progress An exception response (exception code 04h) was p.114 Non-volatile memory processing in detected. 8Ah progress An exception response (exception code 03h) was Outside setting range 8Ch detected.
10-2 Alarms and warnings 5 Method of control communication) (RS-485 5 Method RTU via Modbus When an alarm generates, the ALM output will turn OFF and the motor will stop. At the same time, the ALARM LED will start blinking. When a warning generates, the WNG output will turn ON. The motor will continue to operate. Once the cause of the warning is removed, the WNG output will turn OFF automatically.
You can also clear the warning records by turning off the driver power.
RS-485 communication error (84h) The table shows the relationship between alarms and warnings when an RS-485 communication error occurs.
Description Description of error A warning generates when one RS-485 communication error (84h) has been detected. Warning If normal reception occurs while the warning is present, the warning will be reset automatically. An alarm generates when a RS-485 communication error (84h) has been detected consecutively Alarm by the number of times set in the “Communication error alarm” parameter. While the alarm is present, RS-485 communication is cut off and the motor becomes unexcited.
RS-485 communication timeout (85h) If communication is not established with the master after an elapse of the time set by the “Communication timeout” parameter, a RS-485 communication timeout alarm will generate. The motor stopping method can be set using the “Communication timeout action” parameter.
133 Timing charts 11 Timing charts
Communication start
ON Power supply input OFF 1 s or more * Master Message Communication Slave Message
** Tb2 (transmission waiting time)+C3.5 (silent interval) Tb4 (processing time)+C3.5 (silent interval) if Tb2 < Tb4
Operation start
*2
Master Message *1 Communication Slave Message *3 ON MOVE output OFF
*1 A message including a command to start operation via RS-485 communication. *2 Tb2 (transmission waiting time)+C3.5 (silent interval) Tb4 (processing time)+C3.5 (silent interval) if Tb2 < Tb4 *3 C3.5 (silent interval)+4 ms or less 5 Method of control communication) (RS-485 5 Method RTU via Modbus Operation stop, speed change
*2
Master Message *1 Communication Message Slave *3 *4
Motor speed command
*1 A message including a command to start operation and another to change the speed via RS-485 communication. *2 Tb2 (transmission waiting time)+C3.5 (silent interval) Tb4 (processing time)+C3.5 (silent interval) if Tb2 < Tb4 *3 The specific time ariesv depending on the command speed. *4 The specified time ariesv according to the value set by the “STOP action” parameter.
Excitation control
*2 *2
Master Message *1 Message *1 Communication Slave Message Message *3 *3
Motor excitation command Excitation Not excitation Excitation
*1 A message including a command for excitation control via RS-485 communication. *2 Tb2 (transmission waiting time)+C3.5 (silent interval) Tb4 (processing time)+C3.5 (silent interval) if Tb2 < Tb4 *3 C3.5 (silent interval)+4 ms or less
134 Timing charts
Remote output
*2
Master Message *1 Communication Slave Message *3 R-OUT1 output ON R-OUT2 output OFF
*1 A message including a command for remote output via RS-485 communication. *2 Tb2 (transmission waiting time)+C3.5 (silent interval) Tb4 (processing time)+C3.5 (silent interval) if Tb2 < Tb4 *3 C3.5 (silent interval)+4 ms or less 5 Method of control communication) (RS-485 5 Method RTU via Modbus
135 Example of communication setting 12 Example of communication setting
The data required for each operation is set using the MEXE02, OPX-2A or via RS-485 communication.
12-1 Positioning operation
See p.61 for details on the positioning operation. How to perform the following positioning operation is explained as an example. •• Slave address: 1 •• Position (distance): 1,000 step •• Operating speed: 5,000 Hz 1. Send the following query to turn ON the motor excitation.
Field name Data Description Slave address 01h Slave address 1 Function code 06h Write to a holding register Register address (upper) 00h Command 1=001Eh Register address (lower) 1Eh Value written (upper) 20h Turn ON C-ON=2000h Value written (lower) 00h Error check (lower) F0h Result of CRC-16=0CF0h Error check (upper) 0Ch
2. Send the following query to set the position (travel amount) for operation data No.1 to 1,000 steps.
5 Method of control communication) (RS-485 5 Method RTU via Modbus Field name Data Description Slave address 01h Slave address 1 Function code 10h Write to multiple holding registers. Register address (upper) 04h Position No.1=0402h Register address (lower) 02h Number of registers (upper) 00h Number of successive registers=2 Number of registers (lower) 02h Number of data bytes 04h Total number of data bytes=4 Value written to register address (upper) 00h Value written to register address (lower) 00h 1,000 step=0000 03E8h Value written to register address+1 (upper) 03h Value written to register address+1 (lower) E8h Error check (lower) 40h Result of CRC-16=0840h Error check (upper) 08h
136 Example of communication setting
3. Send the following query to set the operating speed for operation data No.1 to 5,000 Hz.
Field name Data Description Slave address 01h Slave address 1 Function code 10h Write to multiple holding registers. Register address (upper) 05h Operating speed No.1=0502h Register address (lower) 02h Number of registers (upper) 00h Number of successive registers=2 Number of registers (lower) 02h Number of data bytes 04h Total number of data bytes=4 Value written to register address (upper) 00h Value written to register address (lower) 00h 5,000 Hz=0000 1388h Value written to register address+1 (upper) 13h Value written to register address+1 (lower) 88h Error check (lower) 40h Result of CRC-16=7040h Error check (upper) 70h
4. Send the following query to select operation data No.1 and turn the START input ON (start operation). Position operation starts.
Field name Data Description Slave address 01h Slave address 1 Function code 06h Write to holding register. Register address (upper) 00h Command 1=001Eh Register address (lower) 1Eh Value written (upper) 21h Turn ON C-ON, START and M0=2101h Value written (lower) 01h of control communication) (RS-485 5 Method RTU via Modbus Error check (lower) 30h Result of CRC-16=5C30h Error check (upper) 5Ch
5. Once the positioning operation has started, send the following query to turn the START input OFF again (no operation).
Field name Data Description Slave address 01h Slave address 1 Function code 06h Write to holding register. Register address (upper) 00h Command 1=001Eh Register address (lower) 1Eh Value written (upper) 20h Turn OFF START, Turn ON M0 and C-ON=2001h Value written (lower) 01h Error check (lower) 31h Result of CRC-16=CC31h Error check (upper) CCh
137 Example of communication setting
12-2 Continuous operation
See p.75 for details on the continuous operation. How to perform the following continuous operation is explained as an example. •• Slave address: 1 •• Rotation direction: Forward •• Operating speed: 5,000 Hz 1. Send the following query to turn ON the motor excitation.
Field name Data Description Slave address 01h Slave address 1 Function code 06h Write to a holding register Register address (upper) 00h Command 1=001Eh Register address (lower) 1Eh Value written (upper) 20h Turn ON C-ON =2000h Value written (lower) 00h Error check (lower) F0h Result of CRC-16=0CF0h Error check (upper) 0Ch
2. Send the following query to set the operating speed for operation data No.1 to 5,000 Hz.
Field name Data Description Slave address 01h Slave address 1 Function code 10h Write to multiple holding registers. Register address (upper) 05h Operating speed No.1=0502h Register address (lower) 02h Number of registers (upper) 00h
5 Method of control communication) (RS-485 5 Method RTU via Modbus Number of successive registers=2 Number of registers (lower) 02h Number of data bytes 04h Total number of data bytes=4 Value written to register address (upper) 00h Value written to register address (lower) 00h 5,000 Hz=0000 1388h Value written to register address+1 (upper) 13h Value written to register address+1 (lower) 88h Error check (lower) 40h Result of CRC-16=7040h Error check (upper) 70h
3. Send the following query to select operation data No.1 and turn the FWD input ON (operation). Continuous operation starts.
Field name Data Description Slave address 01h Slave address 1 Function code 06h Write to holding register. Register address (upper) 00h Command 1=001Eh Register address (lower) 1Eh Value written (upper) 22h Turn ON C-ON, FWD and M0=2201h Value written (lower) 01h Error check (lower) 30h Result of CRC-16=AC30h Error check (upper) ACh
138 Example of communication setting
4. To stop the continuous operation, send the following query to turn the FWD input OFF again (deceleration stop).
Field name Data Description Slave address 01h Slave address 1 Function code 06h Write to holding register. Register address (upper) 00h Command 1=001Eh Register address (lower) 1Eh Value written (upper) 20h Turn OFF FWD, Turn ON M0 and C-ON=2001h Value written (lower) 01h Error check (lower) 31h Result of CRC-16=CC31h Error check (upper) CCh
12-3 Return-to-home operation
See p.70 for details on the return-to-home operation. How to perform the following return-to-home operation is explained as an example. •• Slave address: 1 1. Send the following query to turn ON the motor excitation.
Field name Data Description Slave address 01h Slave address 1 Function code 06h Write to a holding register Register address (upper) 00h Command 1=001Eh Register address (lower) 1Eh Value written (upper) 20h Turn ON C-ON=2000h
Value written (lower) 00h of control communication) (RS-485 5 Method RTU via Modbus Error check (lower) F0h Result of CRC-16=0CF0h Error check (upper) 0Ch
2. Send the following query to turn the HOME input ON (start operation). Return-to-home operation starts.
Field name Data Description Slave address 01h Slave address 1 Function code 06h Write to a holding register Register address (upper) 00h Command 1=001Eh Register address (lower) 1Eh Value written (upper) 28h Turn ON C-ON and HOME=2800h Value written (lower) 00h Error check (lower) F7h Result of CRC-16=CCF7h Error check (upper) CCh
139 Example of communication setting
3. Once the return-to-home operation has started, send the following query to turn the HOME input OFF again (no operation).
Field name Data Description Slave address 01h Slave address 1 Function code 06h Write to holding register. Register address (upper) 00h Command 1=001Eh Register address (lower) 1Eh Value written (upper) 20h Turn OFF HOME, Turn ON C-ON=2000h Value written (lower) 00h Error check (lower) F0h Result of CRC-16=0CF0h Error check (upper) 0Ch 5 Method of control communication) (RS-485 5 Method RTU via Modbus
140 6 Method of control via industrial network
This part explains how to control via industrial network. This product can be controlled via CC-Link communication or MECHATROLINK communication in combination with a network converter.
Table of contents
1 Method of control via CC-Link 3 Details of remote I/O...... 162 communication...... 142 3-1 Input signals to the driver...... 162 1-1 Guidance...... 142 3-2 Output signals from the driver...... 162 1-2 Setting the switches...... 145 4 Command code list...... 164 1-3 Remote register list...... 146 4-1 Group function...... 164 1-4 Assignment for remote I/O of 6 axes 4-2 Maintenance command...... 165 connection mode...... 146 4-3 Monitor command...... 166 1-5 Assignment for remote I/O of 12 axes connection mode...... 149 4-4 Operation data...... 168 4-5 Application parameter...... 168 2 Method of control via MECHATROLINK 4-6 System parameter...... 170 communication...... 154 4-7 Operation command...... 171 2-1 Guidance...... 154 2-2 Setting the switches...... 157 2-3 I/O field map for theNET C01-M2...... 158 2-4 I/O field map for theNET C01-M3...... 159 2-5 Communication format...... 160 Method of control via CC-Link communication 1 Method of control via CC-Link communication
See the following explanation when using the CRK Series built-in controller type in combination with the network converter NETC01-CC via CC-Link communication. Refer to "3 Details of remote I/O" on p.162 and "4 Command code list" on p.164 for remote I/O and command code.
1-1 Guidance
If you are new to the CRK Series built-in controller type, read this section to understand the operating methods along with the operation flow.
••Before operating the motor, check the condition of the surrounding area to ensure safety. ••See the network converter NETC01-CC USER MANUAL for how to set the parameter.
STEP 1 Set the transmission rate, station address and address number.
Using the parameter
1. Set the "Connection (address number 0) (1D80h)" parameter of the NETC01-CC to "1: Enable." 2. Execute the "Batch non-volatile memory write (3E85h)" of the NETC01-CC. 3. Cycle the NETC01-CC power.
••“Connection” parameters will be enabled after the power is cycled. ••The “Connection” parameters and “Batch non-volatile memory write” command can be executed using the MEXE02 or OPX-2A. 6 Method of control6 Method network via industrial Using the switches Setting condition of driver Setting condition of NETC01-CC ••Address number of the driver: 0 ••CC-Link station number: 1 ••RS-485 transmission rate: 625,000 bps ••RS-485 transmission rate: 625,000 bps ••SW2-No.4 of the function setting switch: OFF ••CC-Link baud rate: Same as the master station ••Operation mode: 6 axes connection mode
Set the CC-Link station number Driver Set the RS-485 NETC01-CC transmission rate Set the address ×10: 0 number SW1: 7 (625,000 bps) ×1: 1 SW1: 0
Set the connection device and Set the CC-Link RS-485 transmission rate station number Set the connection device. (OFF: Network converter) Same as Set the transmission rate. master device (All ON: 625,000 bps)
142 Method of control via CC-Link communication
STEP 2 Check the connection and termination resistor
Termination resistor Termination resistor (SW3): ON (SW3): ON RS-485 communication cable
Termination resistor Master controller (110 Ω 1/2 W) CC-Link communication cable
Mail power supply
Grounding Grounding Grounding Termination resistor Driver NETC01-CC (110 Ω 1/2 W)
STEP 3 Turn on the power supply and check the setting
Check that the LED condition has become as shown in the figures.
Green Lit Green Lit Green Lit OFF OFF OFF Green Lit Green Lit Green Lit
OFF OFF Green Lit of control6 Method network via industrial
zz When C-ERR (red) of the driver or NETC01-CC is lit: Check the transmission rate or address number of RS-485 communication.
zz When L-ERR (red) of the NETC01-CC is lit: Check the type of the CC-Link communication error.
STEP 4 Set the driver parameters
1. Set the "START input mode (1C00h)" parameter of the driver to "0: RS-485 communication." (Initial value: I/O) 2. Set the "HOME/FWD/RVS input mode (1C0Ch)" parameter of the driver to "0: RS-485 communication." (Initial value: I/O) 3. Set the "Data No. input mode (1C0Dh)" parameter of the driver to "0: RS-485 communication." (Initial value: I/O) 4. Set the "STOP contact configuration (1C03h)" parameter of the driver to "0: make." (Initial value: brake) 5. Select operation data No.01 by turning ON the M0 of the address number 0 for remote I/O of CC-Link communication. 6. Perform continuous operation by turning ON the FWD of the address number 0 for remote I/O of CC-Link communication.
The parameters are written in the RAM when writing via CC-Link communication. The data saved in the RAM will be erased once the driver power is turned off. When saving data to the non-volatile memory, execute “Batch non-volatile memory write” of the maintenance command. Refer to p.165.
143 Method of control via CC-Link communication
STEP 5 Execute continuous operation via remote I/O of CC-Link communication.
Perform continuous operation by turning ON the FWD of the address number 0 for remote I/O of CC-Link communication.
Command RY (Master to NETC01-CC) Device No. Signal name Initial value RY0 M0 RY1 M1 RY2 M2 Select the operation data No. RY3 M3 RY4 M4 RY5 M5 RY6 − − RY7 RY8 START Positioning operation RY9 FWD Continuous operation (positive direction) RYA RVS Continuous operation (negative direction) RYB HOME Return-to-home operation RYC STOP Stop operation RYD C-ON Motor excitation ON/OFF RYE − − RYF
STEP 6 Were you able to operate the motor properly?
How did it go? Were you able to operate the motor properly? If the motor does not function, check the following points: 6 Method of control6 Method network via industrial •• Is any alarm present in the driver or NETC01-CC? •• Are the address number, transmission rate and termination resistor set correctly? •• Is the "Connection" parameter of the NETC01-CC set correctly? •• Is the C-ERR LED lit? (RS-485 communication error) •• Is the L-ERR LED lit? (CC-Link communication error) •• Is the operation data set correctly? •• Is the motor excited? Or is the excitation setting correct? •• Are the driver parameters set correctly? •• Is the STOP input of the driver I/O turned ON? For more detailed settings and functions, refer to network converter NETC01-CC USER MANUAL and following pages.
144 Method of control via CC-Link communication
1-2 Setting the switches
When using the driver in combination with the network converter, set the switches before use.
Terminal resistor setting switch (SW3)
Address number setting switch (SW1) Set the connection destination. (SW2-No.4) Set the transmission rate. (SW2-Nos.1 to 3)
Be sure to turn off the motor power before setting the switches. If the switches are set while the power is still on, the new switch settings will not become effective until the driver power is cycled.
Setting the connection device Using the function setting switch SW2-No.4, set the connection device of RS-485 communication. Turn this switch OFF when controlling via the network converter. Factory setting OFF (Network converter)
Address number (slave address)
Using the address number setting switch (SW1), set the address number (slave address). Make sure each address of control6 Method network via industrial number (slave address) you set for each driver is unique. Factory setting 0
Address number 0 1 2 3 4 5 6 7 8 9 10 11 (slave address) SW1 0123456789AB 6 axes connection mode Connection mode 12 axes connection mode
Transmission rate Turn Nos.1 to 3 of the function setting switch (SW2) ON to set the transmission rate to 625,000 bps. Factory setting All ON (625,000 bps)
Termination resistor Use a termination resistor for the driver located farthest away (positioned at the end) from the network converter. Turn the terminal resistor setting switch (SW3) ON to set the terminal resistor for RS-485 communication (120 Ω). Factory setting OFF (termination resistor disabled)
SW3 Termination resistor (120 Ω) OFF Disabled ON Enabled
145 Method of control via CC-Link communication
1-3 Remote register list
Remote register is common to 6-axes connection mode and 12-axes connection mode. "Monitor", "read and write of parameters" and "maintenance command" for the driver or NETC01-CC are executed using remote register. "n" is an address assigned to the master station by the CC-Link station number setting.
RWw (Master to NETC01-CC) RWr (NETC01-CC to master) Address No. Description Address No. Description RWwn0 Command code of monitor 0 RWrn0 Data of monitor 0 (lower 16 bit) RWwn1 Address number of monitor 0 RWrn1 Data of monitor 0 (upper 16 bit) RWwn2 Command code of monitor 1 RWrn2 Data of monitor 1 (lower 16 bit) RWwn3 Address number of monitor 1 RWrn3 Data of monitor 1 (upper 16 bit) RWwn4 Command code of monitor 2 RWrn4 Data of monitor 2 (lower 16 bit) RWwn5 Address number of monitor 2 RWrn5 Data of monitor 2 (upper 16 bit) RWwn6 Command code of monitor 3 RWrn6 Data of monitor 3 (lower 16 bit) RWwn7 Address number of monitor 3 RWrn7 Data of monitor 3 (upper 16 bit) RWwn8 Command code of monitor 4 RWrn8 Data of monitor 4 (lower 16 bit) RWwn9 Address number of monitor 4 RWrn9 Data of monitor 4 (upper 16 bit) RWwnA Command code of monitor 5 RWrnA Data of monitor 5 (lower 16 bit) RWwnB Address number of monitor 5 RWrnB Data of monitor 5 (upper 16 bit) RWwnC Command code RWrnC Command code response RWwnD Address number RWrnD Address number response RWwnE Data (lower) RWrnE Data (lower) RWwnF Data (upper) RWrnF Data (upper)
1-4 Assignment for remote I/O of 6 axes connection mode
6 Method of control6 Method network via industrial Remote I/O assignments of the driver are as follows. "n" is an address assigned to the master station by the CC-Link station number setting. See the network converter NETC01-CC USER MANUAL for 6-axes. Assignment list of remote I/O
Command RY (Master to NETC01-CC) Response RX (NETC01-CC to master) Device No. Description Device No. Description RYn7 to RYn0 Address number "0" RXn7 to RXn0 Address number "0" RYnF to RYn8 remote I/O input RXnF to RXn8 remote I/O output RY (n+1) 7 to RY (n+1) 0 Address number "1" RX (n+1) 7 to RX (n+1) 0 Address number "1" RY (n+1) F to RY (n+1) 8 remote I/O input RX (n+1) F to RX (n+1) 8 remote I/O output RY (n+2) 7 to RY (n+2) 0 Address number "2" RX (n+2) 7 to RX (n+2) 0 Address number "2" RY (n+2) F to RY (n+2) 8 remote I/O input RX (n+2) F to RX (n+2) 8 remote I/O output RY (n+3) 7 to RY (n+3) 0 Address number "3" RX (n+3) 7 to RX (n+3) 0 Address number "3" RY (n+3) F to RY (n+3) 8 remote I/O input RX (n+3) F to RX (n+3) 8 remote I/O output RY (n+4) 7 to RY (n+4) 0 Address number "4" RX (n+4) 7 to RX (n+4) 0 Address number "4" RY (n+4) F to RY (n+4) 8 remote I/O input RX (n+4) F to RX (n+4) 8 remote I/O output RY (n+5) 7 to RY (n+5) 0 Address number "5" RX (n+5) 7 to RX (n+5) 0 Address number "5" RY (n+5) F to RY (n+5) 8 remote I/O input RX (n+5) F to RX (n+5) 8 remote I/O output RY (n+6) 7 to RY (n+6) 0 Control input of RX (n+6) 7 to RX (n+6) 0 Status output of RY (n+6) F to RY (n+6) 8 NETC01-CC * RX (n+6) F to RX (n+6) 8 NETC01-CC * RY (n+7) 7 to RY (n+7) 0 Control input of RX (n+7) 7 to RX (n+7) 0 Status output of RY (n+7) F to RY (n+7) 8 system area * RX (n+7) F to RX (n+7) 8 system area *
** See the network converter NETC01-CC USER MANUAL for details.
146 Method of control via CC-Link communication
Input/output of remote I/O zz Remote I/O input
Driver Driver Driver NETC01-CC Address number 0 Address number 1 Address number 5
Address number 0 Address number 0 RYnF to RYn0 remote I/O input remote I/O input Address number 1 Address number 1 RY (n+1) F to RY (n+1) 0 remote I/O input remote I/O input Address number 2 RY (n+2) F to RY (n+2) 0 remote I/O input Address number 3 RY (n+3) F to RY (n+3) 0 remote I/O input Address number 4 RY (n+4) F to RY (n+4) 0 remote I/O input Address number 5 Address number 5 RY (n+5) F to RY (n+5) 0 remote I/O input remote I/O input Control input of RY (n+6) F to RY (n+6) 0 NETC01-CC Control input of RY (n+7) F to RY (n+7) 0 system area zz Remote I/O output
Driver Driver Driver NETC01-CC Address number 0 Address number 1 Address number 5
Address number 0 Address number 0 RXnF to RXn0 remote I/O output remote I/O output Address number 1 Address number 1 RX (n+1) F to RX (n+1) 0 remote I/O output remote I/O output 6 Method of control6 Method network via industrial Address number 2 RX (n+2) F to RX (n+2) 0 remote I/O output Address number 3 RX (n+3) F to RX (n+3) 0 remote I/O output Address number 4 RX (n+4) F to RX (n+4) 0 remote I/O output Address number 5 Address number 5 RX (n+5) F to RX (n+5) 0 remote I/O output remote I/O output Control output of RX (n+6) F to RX (n+6) 0 NETC01-CC Control output of RX (n+7) F to RX (n+7) 0 system area
147 Method of control via CC-Link communication
Details of remote I/O assignment
Command RY (Master to NETC01-CC) Response RX (NETC01-CC to master) Device No. Signal name Description Device No. Signal name Description RY (n) 0 M0 RX (n) 0 M0_R RY (n) 1 M1 RX (n) 1 M1_R RY (n) 2 M2 Select the operation RX (n) 2 M2_R Response to the RY (n) 3 M3 data No. RX (n) 3 M3_R operation data No. RY (n) 4 M4 RX (n) 4 M4_R RY (n) 5 M5 RX (n) 5 M5_R RY (n) 6 RX (n) 6 WNG Warning − − RY (n) 7 RX (n) 7 ALM Alarm Response to the RY (n) 8 START Positioning operation RX (n) 8 START_R Address number positioning operation "0" Continuous operation RY (n) 9 FWD RX (n) 9 STEPOUT Misstep detection (positive direction) Continuous operation Operation is in RY (n) A RVS RX (n) A MOVE (negative direction) progress Return-to-home Return-to-home RY (n) B HOME RX (n) B HOME-P operation complete RY (n) C STOP Stop operation RX (n) C − − Motor excitation ON/ RY (n) D C-ON RX (n) D READY Ready OFF RY (n) E RX (n) E − − − − RY (n) F RX (n) F AREA Area RY (n+1) 0 RX (n+1) 0 Address number to to "1" RY (n+1) F RX (n+1) F RY (n+2) 0 RX (n+2) 0 Address number to to 6 Method of control6 Method network via industrial "2" RY (n+2) F RX (n+2) F RY (n+3) 0 RX (n+3) 0 Address number to Same as Address number "0" to Same as Address number "0" "3" RY (n+3) F RX (n+3) F RY (n+4) 0 RX (n+4) 0 Address number to to "4" RY (n+4) F RX (n+4) F RY (n+5) 0 RX (n+5) 0 Address number to to "5" RY (n+5) F RX (n+5) F During execution of RY (n+6) 0 M-REQ0 Monitor request 0 RX (n+6) 0 M-DAT0 monitor 0 During execution of RY (n+6) 1 M-REQ1 Monitor request 1 RX (n+6) 1 M-DAT1 monitor 1 During execution of RY (n+6) 2 M-REQ2 Monitor request 2 RX (n+6) 2 M-DAT2 NETC01-CC monitor 2 control input/ During execution of RY (n+6) 3 M-REQ3 Monitor request 3 RX (n+6) 3 M-DAT3 status output monitor 3 During execution of RY (n+6) 4 M-REQ4 Monitor request 4 RX (n+6) 4 M-DAT4 monitor 4 During execution of RY (n+6) 5 M-REQ5 Monitor request 5 RX (n+6) 5 M-DAT5 monitor 5 RY (n+6) 6 − − RX (n+6) 6 WNG Warning
148 Method of control via CC-Link communication
Command RY (Master to NETC01-CC) Response RX (NETC01-CC to master) Device No. Signal name Description Device No. Signal name Description RY (n+6) 7 ARM-RST Reset alarm RX (n+6) 7 ALM Alarm During execution of RY (n+6) 8 RX (n+6) 8 C-SUC RS-485 communication RY (n+6) 9 − − RX (n+6) 9
NETC01-CC RY (n+6) A RX (n+6) A − − control input/ RY (n+6) B RX (n+6) B status output Command execution Command processing RY (n+6) C D-REQ RX (n+6) C D-END request completion RY (n+6) D RX (n+6) D R-ERR Register error During system RY (n+6) E − − RX (n+6) E S-BSY processing RY (n+6) F RX (n+6) F − − RX (n+7) 0 to − Cannot be used RX (n+7) A System area RY (n+7) 0 Remote station control input/ to − Cannot be used RX (n+7) B CRD communication ready status output RY (n+7) F RX (n+7) C to − Cannot be used RX (n+7) F
1-5 Assignment for remote I/O of 12 axes connection mode
Remote I/O assignments of the driver are as follows. "n" is an address assigned to the master station by the CC-Link station number setting. See the network converter NETC01-CC USER MANUAL for 12-axes.
Assignment list of remote I/O 6 Method of control6 Method network via industrial
Command RY (Master to NETC01-CC) Response RX (NETC01-CC to master) Device No. Description Device No. Description Address number "0" Address number "0" RYn7 to RYn0 RXn7 to RXn0 remote I/O input remote I/O output Address number "1" Address number "1" RYnF to RYn8 RXnF to RXn8 remote I/O input remote I/O output Address number "2" Address number "2" RY (n+1) 7 to RY (n+1) 0 RX (n+1) 7 to RX (n+1) 0 remote I/O input remote I/O output Address number "3" Address number "3" RY (n+1) F to RY (n+1) 8 RX (n+1) F to RX (n+1) 8 remote I/O input remote I/O output Address number "4" Address number "4" RY (n+2) 7 to RY (n+2) 0 RX (n+2) 7 to RX (n+2) 0 remote I/O input remote I/O output Address number "5" Address number "5" RY (n+2) F to RY (n+2) 8 RX (n+2) F to RX (n+2) 8 remote I/O input remote I/O output Address number "6" Address number "6" RY (n+3) 7 to RY (n+3) 0 RX (n+3) 7 to RX (n+3) 0 remote I/O input remote I/O output Address number "7" Address number "7" RY (n+3) F to RY (n+3) 8 RX (n+3) F to RX (n+3) 8 remote I/O input remote I/O output Address number "8" Address number "8" RY (n+4) 7 to RY (n+4) 0 RX (n+4) 7 to RX (n+4) 0 remote I/O input remote I/O output Address number "9" Address number "9" RY (n+4) F to RY (n+4) 8 RX (n+4) F to RX (n+4) 8 remote I/O input remote I/O output Address number "10" Address number "10" RY (n+5) 7 to RY (n+5) 0 RX (n+5) 7 to RX (n+5) 0 remote I/O input remote I/O output
149 Method of control via CC-Link communication
Command RY (Master to NETC01-CC) Response RX (NETC01-CC to master) Device No. Description Device No. Description Address number "11" Address number "11" RY (n+5) F to RY (n+5) 8 RX (n+5) F to RX (n+5) 8 remote I/O input remote I/O output RY (n+6) 7 to RY (n+6) 0 Control input of RX (n+6) 7 to RX (n+6) 0 Status output of RY (n+6) F to RY (n+6) 8 NETC01-CC * RX (n+6) F to RX (n+6) 8 NETC01-CC * RY (n+7) 7 to RY (n+7) 0 Control input of system RX (n+7) 7 to RX (n+7) 0 Status output of system RY (n+7) F to RY (n+7) 8 area * RX (n+7) F to RX (n+7) 8 area *
** See the network converter NETC01-CC USER MANUAL for details.
Input/output of remote I/O
zz Remote I/O input
Driver Driver Driver NETC01-CC Address number 0 Address number 1 Address number 11
Address number 0 Address number 0 RYn7 to RYn0 remote I/O input remote I/O input Address number 1 Address number 1 RYnF to RYn8 remote I/O input remote I/O input Address number 2 RY (n+1) 7 to RY (n+1) 0 remote I/O input Address number 3 RY (n+1) F to RY (n+1) 8 remote I/O input Address number 4 RY (n+2) 7 to RY (n+2) 0 remote I/O input Address number 5 RY (n+2) F to RY (n+2) 8 remote I/O input Address number 6 RY (n+3) 7 to RY (n+3) 0 remote I/O input
6 Method of control6 Method network via industrial Address number 7 RY (n+3) F to RY (n+3) 8 remote I/O input Address number 8 RY (n+4) 7 to RY (n+4) 0 remote I/O input Address number 9 RY (n+4) F to RY (n+4) 8 remote I/O input Address number 10 RY (n+5) 7 to RY (n+5) 0 remote I/O input Address number 11 Address number 11 RY (n+5) F to RY (n+5) 8 remote I/O input remote I/O input Control input of RY (n+6) F to RY (n+6) 0 NETC01-CC Control input of RY (n+7) F to RY (n+7) 0 system area
150 Method of control via CC-Link communication zz Remote I/O output
Driver Driver Driver NETC01-CC Address number 0 Address number 1 Address number 11
Address number 0 Address number 0 RXn7 to RXn0 remote I/O output remote I/O output Address number 1 Address number 1 RXnF to RXn8 remote I/O output remote I/O output Address number 2 RX (n+1) 7 to RX (n+1) 0 remote I/O output Address number 3 RX (n+1) F to RX (n+1) 8 remote I/O output Address number 4 RX (n+2) 7 to RX (n+2) 0 remote I/O output Address number 5 RX (n+2) F to RX (n+2) 8 remote I/O output Address number 6 RX (n+3) 7 to RX (n+3) 0 remote I/O output Address number 7 RX (n+3) F to RX (n+3) 8 remote I/O output Address number 8 RX (n+4) 7 to RX (n+4) 0 remote I/O output Address number 9 RX (n+4) F to RX (n+4) 8 remote I/O output Address number 10 RX (n+5) 7 to RX (n+5) 0 remote I/O output Address number 11 Address number 11 RX (n+5) F to RX (n+5) 8 remote I/O output remote I/O output Control output of RX (n+6) F to RX (n+6) 0 NETC01-CC Control output of RX (n+7) F to RX (n+7) 0 system area of control6 Method network via industrial
151 Method of control via CC-Link communication
Details of remote I/O assignment
Command RY (Master to NETC01-CC) Response RX (NETC01-CC to master) Device No. Signal name Description Device No. Signal name Description Response to the RY (n) 0 START Positioning operation RX (n) 0 START_R positioning operation Continuous operation RY (n) 1 FWD RX (n) 1 STEPOUT Misstep detection (positive direction) Continuous operation Operation is in RY (n) 2 RVS RX (n) 2 MOVE (negative direction) progress Address number Return-to-home Return-to-home RY (n) 3 HOME RX (n) 3 HOME-P "0" operation complete RY (n) 4 STOP Stop operation RX (n) 4 ALM Alarm Motor excitation ON/ RY (n) 5 C-ON RX (n) 5 READY Ready OFF RY (n) 6 RX (n) 6 − − − − RY (n) 7 RX (n) 7 AREA Area Response to the RY (n) 8 START Positioning operation RX (n) 8 START_R positioning operation Continuous operation RY (n) 9 FWD RX (n) 9 STEPOUT Misstep detection (positive direction) Continuous operation Operation is in RY (n) A RVS RX (n) A MOVE (negative direction) progress Address number Return-to-home Return-to-home RY (n) B HOME RX (n) B HOME-P "1" operation complete RY (n) C STOP Stop operation RX (n) C ALM Alarm Motor excitation ON/ RY (n) D C-ON RX (n) D READY Ready OFF RY (n) E RX (n) E − − − − RY (n) F RX (n) F AREA Area
6 Method of control6 Method network via industrial RY (n+1) 0 RX (n+1) 0 Address number to Same as Address number "0" to Same as Address number "0" "2" RY (n+1) 7 RX (n+1) 7 RY (n+1) 8 RX (n+1) 8 Address number to Same as Address number "1" to Same as Address number "1" "3" RY (n+1) F RX (n+1) F RY (n+2) 0 RX (n+2) 0 Address number to Same as Address number "0" to Same as Address number "0" "4" RY (n+2) 7 RX (n+2) 7 RY (n+2) 8 RX (n+2) 8 Address number to Same as Address number "1" to Same as Address number "1" "5" RY (n+2) F RX (n+2) F RY (n+3) 0 RX (n+3) 0 Address number to Same as Address number "0" to Same as Address number "0" "6" RY (n+3) 7 RX (n+3) 7 RY (n+3) 8 RX (n+3) 8 Address number to Same as Address number "1" to Same as Address number "1" "7" RY (n+3) F RX (n+3) F RY (n+4) 0 RX (n+4) 0 Address number to Same as Address number "0" to Same as Address number "0" "8" RY (n+4) 7 RX (n+4) 7 RY (n+4) 8 RX (n+4) 8 Address number to Same as Address number "1" to Same as Address number "1" "9" RY (n+4) F RX (n+4) F RY (n+5) 0 RX (n+5) 0 Address number to Same as Address number "0" to Same as Address number "0" "10" RY (n+5) 7 RX (n+5) 7
152 Method of control via CC-Link communication
Command RY (Master to NETC01-CC) Response RX (NETC01-CC to master) Device No. Signal name Description Device No. Signal name Description RY (n+5) 8 RX (n+5) 8 Address number to Same as Address number "1" to Same as Address number "1" "11" RY (n+5) F RX (n+5) F During execution of RY (n+6) 0 M-REQ0 Monitor request 0 RX (n+6) 0 M-DAT0 monitor 0 During execution of RY (n+6) 1 M-REQ1 Monitor request 1 RX (n+6) 1 M-DAT1 monitor 1 During execution of RY (n+6) 2 M-REQ2 Monitor request 2 RX (n+6) 2 M-DAT2 monitor 2 During execution of RY (n+6) 3 M-REQ3 Monitor request 3 RX (n+6) 3 M-DAT3 monitor 3 During execution of RY (n+6) 4 M-REQ4 Monitor request 4 RX (n+6) 4 M-DAT4 monitor 4 During execution of RY (n+6) 5 M-REQ5 Monitor request 5 RX (n+6) 5 M-DAT5 monitor 5 NETC01-CC RY (n+6) 6 − − RX (n+6) 6 WNG Warning control input/ RY (n+6) 7 ARM-RST Reset alarm RX (n+6) 7 ALM Alarm status output During execution of RY (n+6) 8 RX (n+6) 8 C-SUC RS-485 communication RY (n+6) 9 − − RX (n+6) 9 RY (n+6) A RX (n+6) A − − RY (n+6) B RX (n+6) B Command execution Command processing RY (n+6) C D-REQ RX (n+6) C D-END request completion RY (n+6) D RX (n+6) D R-ERR Register error During system RY (n+6) E − − RX (n+6) E S-BSY processing
RY (n+6) F RX (n+6) F − − of control6 Method network via industrial RX (n+7) 0 to − Cannot be used RX (n+7) A System area RY (n+7) 0 Remote station control input/ to − Cannot be used RX (n+7) B CRD communication ready status output RY (n+7) F RX (n+7) C to − Cannot be used RX (n+7) F
153 Method of control via MECHATROLINK communication 2 Method of control via MECHATROLINK communication
See the following explanation when using the CRK Series built-in controller type in combination with the network converter NETC01-M2 or NETC01-M3, via MECHATROLINK communication. Refer to "3 Details of remote I/O" on p.162 and "4 Command code list" on p.164 for remote I/O and command code.
2-1 Guidance
If you are new to the CRK Series built-in controller type, read this section to understand the operating methods along with the operation flow. This section explains the operation method in combination with the NETC01-M2 as an example.
••Before operating the motor, check the condition of the surrounding area to ensure safety. ••See the network converter NETC01-M2/NETC01-M3 USER MANUAL for how to set the parameter.
STEP 1 Set the transmission rate, station address and address number.
Using the parameter
1. Set the "Communication (address number 0)" parameter of the NETC01-M2 to "Enable" using the MEXE02 or OPX-2A. 2. Cycle the NETC01-M2 power.
••“Communication” parameters will be enabled after the power is cycled. ••When setting the parameters of the NETC01-M2, use the MEXE02 or OPX-2A. 6 Method of control6 Method network via industrial Using the switches Setting condition of driver Setting condition of NETC01-M2 ••Address number of the driver: 0 ••MECHATROLINK-II station address: 61 ••RS-485 transmission rate: 625,000 bps ••RS-485 transmission rate: 625,000 bps ••SW4-No.2 of the function setting switch: OFF ••Remote I/O occupied size: 16 bit mode ••Number of transmission bytes: 32 bytes
Set the MECHATROLINK-II station number
Set the RS-485 ×10: 6 Driver NETC01-M2 Set the address transmission rate number SW1: 7 ×1: 1 (625,000 bps) SW1: 0
Set the operation mode Set the connection device and SW2-No.3: ON RS-485 transmission rate SW2-No.2: OFF (Number of transmission Set the connection device. bytes: 32 bytes) (OFF: Network converter) SW2-No.1: OFF Set the transmission rate. (16 bit mode) (All ON: 625,000 bps)
154 Method of control via MECHATROLINK communication
STEP 2 Check the connection and termination resistor
Termination resistor (SW3): ON RS-485 communication cable
Master controller MECHATROLINK-II communication cable
Mail power supply Termination resistor * Termination Grounding Grounding resistor * Driver NETC01-M2
** It is not necessary for the NETC01-M3.
STEP 3 Turn on the power supply and check the setting
Check that the LED condition has become as shown in the figures.
Green Lit Green Lit Green Lit OFF OFF OFF
Green Lit Green Lit of control6 Method network via industrial OFF OFF
zz When C-ERR (red) of the driver or NETC01-M2 is lit: Check the transmission rate or address number of RS-485 communication.
zz When ERR (red) of the NETC01-M2 is lit: Check the MECHATROLINK-II communication error.
155 Method of control via MECHATROLINK communication
STEP 4 Set the driver parameters
Set the driver parameters using any of the MEXE02, OPX-2A, RS-485 communication or MECHATROLINK-II communication. 1. Set the "START input mode (1C00h)" parameter of the driver to "0: RS-485 communication." (Initial value: I/O) 2. Set the "HOME/FWD/RVS input mode (1C0Ch)" parameter of the driver to "0: RS-485 communication." (Initial value: I/O) 3. Set the "Data No. input mode (1C0Dh)" parameter of the driver to "0: RS-485 communication." (Initial value: I/O) 4. Set the "STOP contact configuration (1C03h)" parameter of the driver to "0: make." (Initial value: brake)
••The parameters are written in the RAM when writing via RS-485 communication or MECHATROLINK-II communication. The data saved in the RAM will be erased once the driver power is turned off. When saving data to the non-volatile memory, execute “Batch non-volatile memory write” of the maintenance command. Refer to p.165. ••The operation data and parameters set by the MEXE02 or OPX-2A are saved to the non-volatile memory of the driver. ••The non-volatile memory can be rewritten approximately 100,000 times.
STEP 5 Execute continuous operation
Control the I/O signal of the driver using the I/O command (DATA_RWA: 50h) of MECHATROLINK-II communication. 1. Select operation data No.01 by turning ON the M0 of the address number 0. 2. Perform continuous operation by turning ON the FWD of the address number 0.
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 − − M5 M4 M3 M2 M1 M0 − − C-ON STOP HOME RVS FWD START
6 Method of control6 Method network via industrial STEP 6 Were you able to operate the motor properly?
How did it go? Were you able to operate the motor properly? If the motor does not function, check the following points: •• Is any alarm present in the driver or NETC01-M2? •• Are the address number, transmission rate and termination resistor set correctly? •• Is the "Connection" parameter of the NETC01-M2 set correctly? •• Is the C-ERR LED lit? (RS-485 communication error) •• Is the ERR LED of the NETC01-M2 lit? (MECHATROLINK-II/III communication error) •• Is the operation data set correctly? •• Is the motor excited? Or is the excitation setting correct? •• Are the driver parameters set correctly? •• Is the STOP input of the driver I/O turned ON? For more detailed settings and functions, refer to network converter NETC01-M2 USER MANUAL and following pages.
156 Method of control via MECHATROLINK communication
2-2 Setting the switches
When using the driver in combination with the network converter, set the switches before use.
Terminal resistor setting switch (SW3)
Address number setting switch (SW1) Set the connection destination. (SW2-No.4) Set the transmission rate. (SW2-Nos.1 to 3)
Be sure to turn off the motor power before setting the switches. If the switches are set while the power is still on, the new switch settings will not become effective until the driver power is cycled.
Setting the connection device Using the function setting switch SW2-No.4, set the connection device of RS-485 communication. Turn this switch OFF when controlling via the network converter. Factory setting OFF (Network converter)
Address number (slave address)
Using the address number setting switch (SW1), set the address number (slave address). Make sure each address of control6 Method network via industrial number (slave address) you set for each driver is unique. Factory setting 0
Address number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 (slave address) SW1 0 1 2 3 4 5 6 7 8 9 A B C D E F Connection 8 axes connection mode 16 axes connection mode mode
Transmission rate Turn Nos.1 to 3 of the function setting switch (SW2) ON to set the transmission rate to 625,000 bps. Factory setting All ON (625,000 bps)
Termination resistor Use a termination resistor for the driver located farthest away (positioned at the end) from the network converter. Turn the terminal resistor setting switch (SW3) ON to set the terminal resistor for RS-485 communication (120 Ω). Factory setting OFF (termination resistor disabled)
SW3 Termination resistor (120 Ω) OFF Disabled ON Enabled
157 Method of control via MECHATROLINK communication
2-3 I/O field map for theNET C01-M2
Update of remote I/O data (asynchronous) is executed by the “DATA_RWA” Command (50h). When the remote I/O occupied size is 16-bit mode and the number of transmission bytes is 32 bytes (initial value), I/O field map will be as table. See the network converter NETC01-M2 USER MANUAL for other I/O field map.
Byte Part Type Command Response 1 − DATA_RWA (50h) DATA_RWA (50h) 2 − ALARM Header field 3 − OPTION STATUS 4 − 5 − Reserved Connection status 6 − 7 Address number "0" remote Address number "0" remote 8 I/O input I/O output 9 Address number "1" remote Address number "1" remote 10 I/O input I/O output 11 Address number "2" remote Address number "2" remote 12 I/O input I/O output 13 Address number "3" remote Address number "3" remote 14 I/O input I/O output Remote I/O 15 Address number "4" remote Address number "4" remote 16 I/O input I/O output 17 Address number "5" remote Address number "5" remote 18 Data field I/O input I/O output 19 Address number "6" remote Address number "6" remote 20 I/O input I/O output 21 Address number "7" remote Address number "7" remote I/O input I/O output 6 Method of control6 Method network via industrial 22 23 Register address number Register address number 24 response 25 Command code response + Command code + TRIG 26 TRIG response + STATUS Remote resistor 27 28 DATA DATA response 29 30 31 − Reserved Reserved
158 Method of control via MECHATROLINK communication
2-4 I/O field map for theNET C01-M3
Update of remote I/O data (asynchronous) is executed by “DATA_RWA” Command (20h). When the remote I/O occupied size is 16-bit mode and the number of transmission bytes is 32 bytes (initial value), I/O field map will be as table. See the network converter NETC01-M3 USER MANUAL for other I/O field map.
Byte Type Command Response 0 − DATA_RWA (20h) DATA_RWA (20h) 1 − WDT RWDT 2 − CMD_CTRL CMD_STAT 3 − 4 − Reserved Connection status 5 − 6 Address number "0" remote I/O input Address number "0" remote I/O output 7 8 Address number "1" remote I/O input Address number "1" remote I/O output 9 10 Address number "2" remote I/O input Address number "2" remote I/O output 11 12 Address number "3" remote I/O input Address number "3" remote I/O output 13 Remote I/O 14 Address number "4" remote I/O input Address number "4" remote I/O output 15 16 Address number "5" remote I/O input Address number "5" remote I/O output 17 18 Address number "6" remote I/O input Address number "6" remote I/O output 19 20 Address number "7" remote I/O input Address number "7" remote I/O output
21 of control6 Method network via industrial 22 Register address number Register address number response 23 24 Command code response + Command code + TRIG 25 TRIG response + STATUS Remote resistor 26 27 DATA DATA response 28 29 30 − Reserved Reserved 31 −
159 Method of control via MECHATROLINK communication
2-5 Communication format
Communication formats to the driver and NETC01-M2 (NETC01-M3) are as follows.
Remote I/O input For details on remote I/O, refer to p.162. zz 8 axes connection mode [16 bit mode]
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 − − M5 M4 M3 M2 M1 M0 − − C-ON STOP HOME RVS FWD START
zz 16 axes connection mode [8 bit mode]
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 − − C-ON STOP HOME RVS FWD START
Remote I/O output
zz 8 axes connection mode [16 bit mode]
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 ALM WNG M5_R M4_R M3_R M2_R M1_R M0_R AREA − READY − HOME-P MOVE STEPOUT START_R
zz 16 axes connection mode [8 bit mode]
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 AREA − READY ALM HOME-P MOVE STEPOUT START_R
6 Method of control6 Method network via industrial Remote register input
zz Command [NETC01-M2 (NETC01-M3) to driver]
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Command code − TRIG DATA
zz Explanation of command
Name Description Setting range The command sets the command code for “write and read of parameters,” Command code − “monitor” and “maintenance." This is the trigger for handshake to execute the command code. When 0: No motion TRIG turning the TRIG from 0 to 1, the command code and DATA will be executed. 1: Execution DATA This is the data writing to the driver (little endian). −
160 Method of control via MECHATROLINK communication
Remote register output zz Response [Driver to NETC01-M2 (NETC01-M3)]
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Command code STATUS TRIG_R DATA_R zz Explanation of command
Name Description Setting range Command code The response returns the command code of the command. − This is the trigger for handshake indicating the completion of the 0: Not processing TRIG_R command code. When the command code is completed, the TRIG_R 1: Execution completion will be turned from 0 to 1. 0: Normal operation STATUS This indicates the result that executed the command code. 1: Error DATA_R This is the data reading from the driver (little endian). − 6 Method of control6 Method network via industrial
161 Details of remote I/O 3 Details of remote I/O
This is common to NETC01-CC, NETC01-M2 and NETC01-M3.
3-1 Input signals to the driver
Each input signal has the order of priority and it is detected by the following order. C-ON > STOP > FWD/RVS > HOME > START
Signal name Function Description Motor excitation switching between excitation and non-excitation. C-ON Motor excitation ON 0: Motor non-excitation * 1: Motor excitation * This signal is used to stop positioning operation, continuous operation and return-to-home operation. How to stop operation is based on the "STOP action" parameter (command code 0C02h) of STOP Stop operation the parameter command. 0: Possible to operate 1: Stop operation This signal is used to execute return-to-home operation. Operation HOME Return-to-home operation is started at the ON edge of the HOME bit. This signal is used to execute continuous operation in the negative direction. However, when the FWD bit and RVS bit are turned ON Continuous operation RVS simultaneously, continuous operation will be stopped. (negative direction) 0: Stop continuous operation 1: Execute continuous operation This signal is used to execute continuous operation in the positive direction. However, when the FWD bit and RVS bit are turned ON Continuous operation FWD simultaneously, continuous operation will be stopped. (positive direction) 0: Stop continuous operation 1: Execute continuous operation 6 Method of control6 Method network via industrial This signal is used to execute positioning operation. Operation is START Positioning operation started at the ON edge of the START bit. Uses these six bits to select the operation data number. M0 to M5 Select the operation data No. See p.47 for details on the combination.
** It is based on the setting value of the "C-ON logic configuration" parameter for the driver.
3-2 Output signals from the driver
Signal name Function Description This signal is output when the motor command position is inside the area. AREA Inside area 0: Command position is outside the area 1: Command position is inside the area This signal is output when the driver is ready to operate. Start operation after checking the READY output has been turned ON. When the READY output is OFF, operation cannot be READY Ready performed. 0: Not ready 1: Ready This signal is output when return-to-home operation has Return-to-home complete/ completed. HOME-P Current position zero 0: Return-to-home operation has not completed. 1: Return-to-home operation has completed.
162 Details of remote I/O
Signal name Function Description This signal is output when the motor operates. MOVE Output during operation 0: Motor stopped 1: Motor operating This signal is output when step-out has been detected. STEPOUT Step-out detection 0: Step-out is not detected 1: Step-out is detecting This signal is output in response to the START input. Response for positioning START_R 0: START OFF operation start signal 1: START ON This signal is output when the protective function has been triggered and the alarm has been generated. ALM Alarm 0: Alarm not present 1: Alarm present This signal is output when a warning has been generated. Once the cause of the warning is removed, the WNG will turn WNG Warning OFF automatically. 0: Warning not present 1: Warning present Response to the operation M0_R to M5_R The operation data number currently selected is output. data No.
Operation data No. zz Operation data number and input signal M0 to M5 Select an operation data based on a combination of ON/OFF status of the M0 to M5. See p.47 for details.
Operation data No. M5 M4 M3 M2 M1 M0 Sequential operation OFF OFF OFF OFF OFF OFF 1 OFF OFF OFF OFF OFF ON 2 OFF OFF OFF OFF ON OFF
· · · · · · · of control6 Method network via industrial · · · · · · · · · · · · · · 62 ON ON ON ON ON OFF 63 ON ON ON ON ON ON zz Positioning operation When selecting the operation data No. and turning the START ON, positioning operation will be started. When selecting the operation data No.0, sequential positioning operation is performed. zz Continuous operation When selecting any of the operation data No.1 to 63 and turning the FWD or RVS to ON, continuous operation is started. If the operation data No.0 is selected, continuous operation is not performed.
163 Command code list 4 Command code list
This is common to NETC01-CC, NETC01-M2 and NETC01-M3.
4-1 Group function
The driver has a group function. Multiple slaves are made into a group and a operation command is sent to all slaves in the group at once.
Group composition A group consists of one parent slave and child slaves. zz Group address To perform a group send, set a group address to the child slaves to be included in the group. The child slaves to which the group address has been set can receive a command sent to the parent slave. The operation command will be sent to the child slaves in the same group by sending it to the parent slave. zz Parent slave No special setting is required on the parent slave to perform a group send. The address of the parent slave becomes the group address. zz Child slave Use a "Group" (1018h) to set a group address to each child slave.
Only remote I/O input can execute the group function. Read from commands and parameters or write to commands and parameters cannot be executed.
Group setting The group setting is not saved in the non-volatile memory even when the maintenance command "Batch non-volatile memory write" executes. 6 Method of control6 Method network via industrial Command code Description Setting range Initial value Read Write Set the group address. −1: Individual (No group setting) 0F03h 1F03h Group −1 0 to 15: Set the group address. (Address number of parent slave) *
** Set in the 0 to 11 range when using the NETC01-CC, and set in the 0 to 15 range when using the NETC01-M2 or NETC01-M3.
Example for setting of the group function Set as follows when making a group by setting the driver of address number 0 to the parent slave and by setting the driver of address number 1 and 2 to the child slaves.
NETC01 Parent Child Child slave slave slave
Driver of address number 0 Driver of address number 1 Driver of address number 2 "Group" command: -1 "Group" command: 0 "Group" command: 0 (individual)
164 Command code list
Address number 0 NETC01 to slave START=ON
Motor operation at address number 0 (parent slave) "Group" command: -1
Motor operation at address number 1 (child slave) "Group" command: 0
Motor operation at address number 2 (child slave) "Group" command: 0
When inputting a command to the parent slave with remote I/O, the motors of the parent slave and child slaves will operate. The motors will not operate if the command is input to the child slaves.
4-2 Maintenance command
These commands are used to clear the alarm records and warning records. They are also used to execute the batch processing for the non-volatile memory.
Command Name Description Setting range code 3E80h Reset alarm Resets the alarms that are present. 3E81h Clear alarm records Clears alarm records. 3E82h Clear warning records Clears warning records. Reads the parameters saved in the non-volatile Batch non-volatile memory memory, to the RAM. All operation data and 3E84h read parameters previously saved in the RAM are overwritten. Batch non-volatile memory Writes the parameters saved in the RAM to the
3E85h of control6 Method network via industrial write non-volatile memory. Resets the parameters saved in the RAM and 3E86h All data initialization non-volatile memory to the initial value. Update the command position to the value of the 3E88h P-PRESET execute 1: Execute "Preset position" parameter. Clear communication error 3E89h Clears the communication error records. code Presets the encoder counter value as the value of 3E8Ah Preset encoder counter * the “Encoder counter preset value” parameter. Clears the command position and encoder counter 3E8Bh Clear counter value to 0. Internal deviations of the driver are also cleared, so any deviation error, if present, is reset. 3E8Ch Operation data initialization Resets the operation data. Application parameters 3E8Dh Resets the application parameters. initialization 3E8Eh System parameters initialization Resets the system parameters.
** This command is used when an encoder is connected.
The non-volatile memory can be rewritten approximately 100,000 times.
165 Command code list
4-3 Monitor command
These commands are used to monitor the driver condition.
Command code Name Description 2E00h Present alarm Monitors the present alarm code. 2E01h Alarm record 1 2E02h Alarm record 2 2E03h Alarm record 3 2E04h Alarm record 4 2E05h Alarm record 5 Monitors the alarm records 1 to 10. 2E06h Alarm record 6 2E07h Alarm record 7 2E08h Alarm record 8 2E09h Alarm record 9 2E0Ah Alarm record 10 2E0Bh Present warning Monitors the present warning code. 2E0Ch Warning record 1 2E0Dh Warning record 2 2E0Eh Warning record 3 2E0Fh Warning record 4 2E10h Warning record 5 Monitors the warning records 1 to 10. 2E11h Warning record 6 2E12h Warning record 7 2E13h Warning record 8 2E14h Warning record 9 2E15h Warning record 10 2E16h Present selected data No. Monitors the operation data No. currently selected. 6 Method of control6 Method network via industrial Monitors the operation data No. corresponding to the data used in the current positioning operation. This address is used in 2E17h Present operation data No. linked-motion operation and sequential positioning operation. While the motor is stopped, the last used operation data number is indicated. 2E18h Command position [step] Monitors the command position. 2E1Ah Command speed [Hz] Monitors the current command speed. 2E1Bh Encoder counter Monitors the encoder counter. Monitors how much of the dwell time used in the linked-motion 2E1Eh Remaining dwell time operation 2 remains. Monitor the each I/O signal (CN2) of the driver. (See "I/O status 2E1Fh I/O status (2E1Fh)" on p.167.) 2E22h Communication error code record 1 2E23h Communication error code record 2 2E24h Communication error code record 3 2E25h Communication error code record 4 2E26h Communication error code record 5 Monitors the communication error records 1 to 10 that have 2E27h Communication error code record 6 occurred in the past. 2E28h Communication error code record 7 2E29h Communication error code record 8 2E2Ah Communication error code record 9 2E2Bh Communication error code record 10 2E30h Driver status Monitors the driver status. (See "Driver status (2E30h)" on p.167.)
166 Command code list
I/O status (2E1Fh)
Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 0 (least significant bit) − − M5 M4 M3 M2 M1 M0 HOME/ 1 − RVS FWD STOP AWO ALM-RST START P-PRESET 2 − − − − SLIT HOMES −LS +LS 3 (most significant bit) − − OUT4 OUT3 OUT2 OUT1 ALM MOVE
Driver status (2E30h)
Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 0 (least significant bit) ENABLE ALM AREA S-BSY READY HOME-P 0MOVE 1 START_R O.H. HOMES SLIT −LS +LS STEPOUT WNG 2 ZSG TIM M5_R M4_R M3_R M2_R M1_R M0_R 3 (most significant bit) ALMCD
Signal name of driver status
Signal name Description Read range 0: Motor stopped MOVE Indicates the operating condition of the motor. 1: Motor operating 0: Motor not positioned at home Indicates that the motor is at home position. It can be used as HOME-P 1: Motor positioned at home a home-seeking completion signal. (home-seeking completed) 0: Not ready READY Indicates that the driver is ready. 1: Ready Indicates the internal processing condition as a result of 0: Internal processing not in progress S-BSY RS-485 communication. 1: Internal processing in progress 0: Outside area AREA The motor output shaft is inside the specified range. 1: Inside area
0: Alarm not present of control6 Method network via industrial ALM An alarm is present. 1: Alarm present 0: Motor not excited ENABLE Indicates the excitation condition of the motor. 1: Motor excited 0: Warning not present WNG A warning is present. 1: Warning present 0: Deviation error not present STEPOUT The deviation is abnormal. 1: Deviation error present +LS Indicates the condition of the I/O +LS input. −LS Indicates the condition of the I/O −LS input. 0: OFF (photocoupler un-energized) SLIT Indicates the condition of the I/O SLIT input. 1: ON (photocoupler energized) HOMES Indicates the condition of the I/O HOMES input. 0: Overheat warning not present O.H. Indicates whether or not an overheat warning is present. 1: Overheat warning present 0: START=OFF START_R Indicates the status of START. * 1: START=ON Indicates the excitation condition of the motor. 0: TIM not being detected TIM “1” is read when the motor is at its excitation home. 1: TIM being detected 0: ZSG not being detected ZSG Indicates the Z-phase condition of the encoder input. 1: ZSG being detected M0_R to M5_R Selected operation data number * 0 to 63: Operation data number ALMCD Indicates the alarm code of the present alarm. Alarm code
** START and M0 to M5 can be turned ON/OFF via I/O or RS-485 communication. If these signals are controlled via I/O, the I/ O-controlled ON/OFF status is returned. If the signals are controlled via RS-485 communication, the RS-485-communication- controlled ON/OFF status is returned. I/O control is selected as the default prior to shipment.
167 Command code list
4-4 Operation data
Command code Description Setting range Initial value Read Write 0001h 1001h Position No.1 to to to −8,388,608 to 8,388,607 step 0 003Fh 103Fh Position No.63 0101h 1101h Operating speed No.1 to to to 1 to 500,000 Hz 1,000 013Fh 113Fh Operating speed No.63 0201h 1201h Operation mode No.1 0: Incremental to to to 0 1: Absolute 023Fh 123Fh Operation mode No.63 0301h 1301h Operation function No.1 0: Single-motion to to to 1: Linked-motion 0 033Fh 133Fh Operation function No.63 2: Linked-motion 2 0401h 1401h Sequential positioning No.1 0: Disable to to to 0 1: Enable 043Fh 143Fh Sequential positioning No.63 0501h 1501h Acceleration rate No.1 to to to 053Fh 153Fh Acceleration rate No.63 0.001 to 1,000.000 ms/kHz 30.000 0601h 1601h Deceleration rate No.1 to to to 063Fh 163Fh Deceleration rate No.63 0801h 1801h Dwell time No.1 to to to 0 to 50,000 (1=0.001 s) 0 083Fh 183Fh Dwell time No.63
4-5 Application parameter 6 Method of control6 Method network via industrial
Command code Description Setting range Initial value Read Write 0: RS-485 communication 0C00h 1C00h START input mode 1 1: I/O 0: Disable 0C01h 1C01h I/O STOP input 1 1: Enable 0: Immediate stop 1: Decelerate stop 0C02h 1C02h STOP action 1 2: Immediate stop & Current OFF 3: Decelerate stop & Current OFF 0: Make (N.O.) 0C03h 1C03h STOP contact configuration 1 1: Break (N.C.) 0: 0=Not excited, 1=Excited 0C04h 1C04h C-ON logic configuration 0 1: 0=Excited, 1=Not excited 0C06h 1C06h OUT1 signal mode selection 5 0C07h 1C07h OUT2 signal mode selection 7 See table on p.170. 0C08h 1C08h OUT3 signal mode selection 8 0C09h 1C09h OUT4 signal mode selection 9 0: HOME 0C0Ah 1C0Ah HOME/P-PRESET input switching 0 1: P-PRESET 0C0Bh 1C0Bh Motor excitation mode 0: RS-485 communication 1 0C0Ch 1C0Ch HOME/FWD/RVS input mode 1: I/O
168 Command code list
Command code Description Setting range Initial value Read Write 0: RS-485 communication 0C0Dh 1C0Dh Data No. input mode 1 1: I/O 0: Make (N.O.) 0C0Eh 1C0Eh AWO contact configuration 0 1: Break (N.C.) 0: Disable 0C10h 1C10h Hardware overtravel detection 1 1: Enable 0C11h 1C11h LS contact configuration 0: Make (N.O.) 0C12h 1C12h HOMES contact configuration 0 1: Break (N.C.) 0C13h 1C13h SLIT contact configuration 0: Immediate stop 0C14h 1C14h Overtravel action 0 1: Decelerate stop 0C15h 1C15h Preset position 0C16h 1C16h Area 1 −8,388,608 to +8,388,607 step 0 0C17h 1C17h Area 2 0C1Ah 1C1Ah Encoder counter preset value * 0C20h 1C20h Operating current 5 to 100% 100 0C21h 1C21h Standstill current 5 to 50% 50 0C40h 1C40h Common acceleration rate 0.001 to 1,000.000 ms/kHz 30.000 0C41h 1C41h Common deceleration rate 0C42h 1C42h Starting speed 100 1 to 500,000 Hz 0C46h 1C46h JOG operating speed 1,000 0C47h 1C47h JOG acceleration/deceleration rate 0.001 to 1,000.000 ms/kHz 30.000 0C48h 1C48h JOG starting speed 1 to 500,000 Hz 100 0: Common 0C49h 1C49h Acceleration/deceleration type 0 1: Separate 0: 2 sensors 0C60h 1C60h Home-seeking mode 1 1: 3 sensors 6 Method of control6 Method network via industrial 0C62h 1C62h Operating speed of home-seeking 1 to 500,000 Hz 1,000 Acceleration/deceleration rate of 0C63h 1C63h 0.001 to 1,000.000 ms/kHz 30.000 home-seeking 0C64h 1C64h Starting speed of home-seeking 1 to 500,000 Hz 100 0C65h 1C65h Position offset of home-seeking −8,388,608 to +8,388,607 step 0 0: Negative direction 0C66h 1C66h Starting direction of home-seeking 1 1: Positive direction 0: Disable 0C67h 1C67h SLIT detection with home-seeking 1: Enable 0: Disable 0 TIM signal detection with home- 0C68h 1C68h 1: Enable (TIM) seeking 2: Enable (ZSG) * Backward steps in 2-sensor mode 0C69h 1C69h 0 to 32,767 step 200 home-seeking 0C80h 1C80h Stepout detection band * 0.1 to 360.0 deg 72 0C91h 1C91h Overvoltage warning 25.0 to 35.0 V 310 0C93h 1C93h Overheat warning 40 to 85 °C 85 0: Disable 0CC0h 1CC0h Software overtravel 1 1: Enable 0CC1h 1CC1h Positive software limit 8,388,607 −8,388,608 to +8,388,607 step 0CC2h 1CC2h Negative software limit −8,388,608 0: Signed 0CC3h 1CC3h Display mode of the data setter speed 0 1: Absolute
169 Command code list
Command code Description Setting range Initial value Read Write 0: Disable 0CC4h 1CC4h The data setter editing mode 1 1: Enable 0: Immediate stop 0CC6h 1CC6h Communication timeout action 1 1: Decelerate stop 0: No operation (alarm/warning not present) 0CCAh 1CCAh Stepout detection action * 0 1: Warning 2: Alarm
** This parameter is used when an encoder is connected. Setting range of “OUT signal mode selection” parameter
5: AREA 8: WNG 11: R-OUT1 14: O.H. 6: TIM 9: HOME-P 12: R-OUT2 15: R-OUT3 7: READY 10: ZSG * 13: STEPOUT * 16: R-OUT4
** This signal is used when an encoder is connected.
4-6 System parameter
To make the new system parameter settings effective, execute “Batch non-volatile memory write” and then cycle the power.
Command code Description Setting range Initial value Read Write 0: + direction=CCW 0D0Ah 1D0Ah Motor rotation direction 1 1: + direction=CW 0: Disable 0D0Ch 1D0Ch Stepout detection * 0 1: Enable
6 Method of control6 Method network via industrial 0D0Dh 1D0Dh Motor step angle See table next. 0 0D0Eh 1D0Eh Encoder electronic gear A * 1 to 250,000 500 0D0Fh 1D0Fh Encoder electronic gear B *
** This parameter is used when an encoder is connected. zz Setting value of the “Motor step angle” parameter If the base step angle of the motor is 0.72° If the base step angle of the motor is 0.36° Setting Step angle Number of divisions Setting Step angle Number of divisions 0 0.72° 1 0 0.36° 1 1 0.36° 2 1 0.18° 2 2 0.288° 2.5 2 0.144° 2.5 3 0.18° 4 3 0.09° 4 4 0.144° 5 4 0.072° 5 5 0.09° 8 5 0.045° 8 6 0.072° 10 6 0.036° 10 7 0.036° 20 7 0.018° 20 8 0.0288° 25 8 0.0144° 25 9 0.018° 40 9 0.009° 40 10 0.0144° 50 10 0.0072° 50 11 0.009° 80 11 0.0045° 80 12 0.0072° 100 12 0.0036° 100 13 0.00576° 125 13 0.0028° 125
170 Command code list
If the base step angle of the motor is 0.72° If the base step angle of the motor is 0.36° Setting Step angle Number of divisions Setting Step angle Number of divisions 14 0.0036° 200 14 0.0018° 200 15 0.00288° 250 15 0.00144° 250
••Step angles are theoretical values. ••With the geared type, the value of “step angle/gear ratio” becomes the actual step angle. ••The base step angle is 0.36° for high-resolution type motors.
4-7 Operation command
Command code Initial Description Setting range Read Write value Controls the ON-OFF status of the remote output 0F00h 1F00h Remote output 0 (R-OUT1 to R-OUT4). See table next. Selects the data number to be operated. This is effective when the "Data No. input mode 0F04h 1F04h Select the operation data No. 0 (0C0Dh/1C0Dh)" parameter is set to "0: RS-485 communication" in 12-axes connection mode.
Setting range of remote output
Setting value R-OUT4 R-OUT3 R-OUT2 R-OUT1 0 OFF OFF OFF OFF 1 OFF OFF OFF ON 2 OFF OFF ON OFF 3 OFF OFF ON ON 4 OFF ON OFF OFF
5 OFF ON OFF ON of control6 Method network via industrial 6 OFF ON ON OFF 7 OFF ON ON ON 8 ON OFF OFF OFF 9 ON OFF OFF ON 10 ON OFF ON OFF 11 ON OFF ON ON 12 ON ON OFF OFF 13 ON ON OFF ON 14 ON ON ON OFF 15 ON ON ON ON
171 6 Method of control6 Method network via industrial
172 7 Inspection, troubleshooting and remedial actions
This part explains the periodical inspection methods as well as confirmation items and remedial actions when problems have happened.
Table of contents
1 Inspection...... 174 2 Alarms and warnings...... 175 2-1 Alarms...... 175 2-2 Warnings...... 178 3 Troubleshooting and remedial actions...... 179 Inspection 1 Inspection
It is recommended that periodic inspections for the items listed below are conducted after each operation of the motor. If an abnormal condition is noted, discontinue any use and contact your nearest Oriental Motor sales office.
During inspection •• Are any of the motor mounting screws loose? •• Check for any unusual noises in the motor bearings (ball bearings) or other moving parts. •• Are there any scratches, signs of stress or loose driver connections in the motor cable? •• Are the motor output shaft and load shaft out of alignment? •• Are any of the driver DIN rail mounting parts loose? •• Are there any loose driver connectors? •• Is there attachment of dust, etc., on the driver? •• Are there any strange smells or appearances within the driver?
The driver uses semiconductor elements. Handle the driver with care since static electricity may damage semiconductor elements. Static electricity may damage the driver. 7 Inspection, troubleshooting and remedial actions 7 Inspection,
174 Alarms and warnings 2 Alarms and warnings
The driver provides alarms that are designed to protect the driver from overheating, poor connection, error in operation, etc. (protective functions), as well as warnings that are output before the corresponding alarms generate (warning functions).
2-1 Alarms
When an alarm generates, the ALM output will turn OFF and the motor will stop. At the same time, the ALARM LED will start blinking. The present alarm can be checked by counting the number of times the ALARM LED blinks. Present alarms can be checked using the MEXE02, OPX-2A or RS-485 communication. You can also check the records of up to ten most recent alarms starting from the latest one, or clear the alarm records. Example: Overvoltage alarm (number of times the ALARM LED blinks: 3) Approximately Approximately 200 ms 200 ms Approximately 1.4 s
Interval
Alarm reset Perform one of the reset operations specified below. Before resetting an alarm, always remove the cause of the alarm and ensure safety. Refer to p.50 for the timing chart. •• Turn the ALM-RST input to ON and then OFF. (The alarm will be reset at the OFF edge of the input.) •• Perform an alarm reset using the MEXE02, OPX-2A or RS-485 communication. •• Cycle the power.
Some alarms cannot be reset with the ALM-RST input, MEXE02, OPX-2A or RS-485 communication. Check with the “Alarm list” on p.176. To reset these alarms, you must cycle the power. 7 Inspection, troubleshooting and remedial actions 7 Inspection,
175 Alarms and warnings
Alarm list
Number of times the Alarm Motor Alarm Alarm type Cause Remedial action ALARM LED code operation reset *1 blinks The internal temperature of Review the ventilation Overheat 2 21 Possible the driver exceeded 85 °C condition in the enclosure. (185 °F). ••The internal voltage ••If this alarm generates The motor exceeded the permissible during operation, reduce current is value due to regeneration, the load or increase the cut off. Not Overvoltage 3 22 etc. acceleration/deceleration possible ••The power supply voltage rate. exceeded the allowable ••Check the power supply value. voltage. ••Reduce the load, or The deviation between the increase the acceleration/ encoder counter value and deceleration rate. command position reached ••Check the setting of Possible Overflow 4 10 the stepout detection band “Stepout detection band” *2 when the “Stepout parameter. detection action” parameter ••Check the setting of was set to “alarm.” “Encoder electronic gear” parameter. Both the +LS and −LS Check the sensor logic and ±LS both sides 60 signals were detected when setting of “LS contact active LS detection was enabled. configuration” parameter. The LS opposite to the Reverse limit operating direction has sensor 61 Check the ±LS wiring. detected during a return- connection to-home operation. ••An unanticipated load may have been applied during the return-to-home operation. Check the load. ••If the installation positions 7 Inspection, troubleshooting and remedial actions 7 Inspection, The motor of ±LS and HOMES are stops. close to one another, the return-to-home sequence may not end properly, depending on the starting 7 Possible direction of return-to- Home seeking Return-to-home operation home operation. Review 62 error did not complete normally. the sensor installation positions and the starting direction of return-to- home operation. ••Return-to-home operation may have been performed in a condition where both +LS and −LS were detected. Check the sensor logic and the setting of “LS contact configuration” parameter. The HOMES is not detected at a position between +LS ••Set a HOMES between +LS No HOMES 63 and −LS during return-to- and −LS. home operation in 3-sensor ••Check the HOMES wiring. mode.
176 Alarms and warnings
Number of times the Alarm Motor Alarm Alarm type Cause Remedial action ALARM LED code operation reset *1 blinks ••Adjust the connection condition of the motor output shaft and load as well as the HOMES position so that at least one of the SLIT input, TIM output and ZSG output None of the SLIT input, TIM will turn ON while HOMES TIM, Z, SLIT output and ZSG output is ON. 64 input error could be detected during ••If the SLIT input, TIM return-to-home operation. output and ZSG output are not used with HOMES, set the “TIM signal detection with home- seeking” parameter and “SLIT detection with home-seeking” parameter to “disable.” Reset alarm using the A +LS or −LS signal was ALM-RST input, and then Hardtware 66 detected when hardware pull out from the LS sensor overtravel overtravel was enabled. via continuous operation or return-to-home operation. The motor Possible stops. Perform the operation within the range between the software limits. In single-motion operation, A software limit was Software check to see if the position 67 reached when software overtravel exceeds the softlimit. In 7 overtravel was enabled. linked-motion operation, check to see if the result of linked position exceeds the softlimit. A limit sensor signal was Check the setting of Home seeking detected during offset troubleshooting and remedial actions 7 Inspection, 6A “Position offset of home- offset error movement as part of seeking” parameter. return-to-home operation. ••Five or more data may be ••Keep the number of linked. operation data to be ••Data of different directions linked to four or less. may be linked ••Link operation data Invalid 70 having the same direction. operation data ••In a sequential positioning operation, “sequential ••In a sequential positioning positioning” was not set to operation, set “sequential “enable” for operation data positioning” to “enable” for No.01. operation data No.01. The number of consecutive RS-485 The motor RS-485 communication Not communication 84 current is errors reached the value set possible error cut off. in the “Communication error alarm” parameter. See “10 Detection of The time set in the communication errors” on applicable parameter has p.133. RS-485 The motor elapsed, and yet the communication 85 Possible stops. communication could not timeout be established with the master controller.
177 Alarms and warnings
Number of times the Alarm Motor Alarm Alarm type Cause Remedial action ALARM LED code operation reset *1 blinks The bus of host network of Network bus the network converter 81 error *3 turned off while the motor The motor Check the condition of the 7 Possible was operating. stops. network converter. Network The network converter converter error 8E generated an alarm. *3 Initialize the parameters The motor Not The stored data was using the MEXE02, OPX- EEPROM error 9 41 current is possible damaged. 2A or RS-485 cut off. communication.
*1 Reset alarm using the ALM-RST input/MEXE02/OPX-2A/RS-485 communication. *2 The alarm cannot be reset by merely turning the ALM-RST input ON. First recover from the deviation error and reset the alarm by the ALM-RST input. See p.87 for how to recover from deviation error. *3 This error is detected when a network converter is used in combination.
2-2 Warnings
When a warning generates, the WNG output will turn ON. The motor will continue to operate. Once the cause of the warning is removed, the WNG output will turn OFF automatically. Present warnings can be checked using the MEXE02, OPX-2A or RS-485 communication. You can also check the records of up to ten most recent warnings starting from the latest one, or clear the warning records.
You can also clear the warning records by turning off the driver power.
Warning list
Warning Warning type Cause Remedial action code The deviation between the encoder ••Reduce the load, or increase the
7 Inspection, troubleshooting and remedial actions 7 Inspection, counter value and command acceleration/deceleration rate. position reached the stepout ••Check the setting of “Stepout Overflow 10 detection band when the “Stepout detection band” parameter. detection action” parameter was ••Check the setting of “Encoder set to “warning.” electronic gear” parameter. The temperature inside the driver Review the ventilation condition in Overheat 21 exceeded the value set in the the enclosure. “Overheat warning” parameter. ••The internal voltage exceeded the value set in the “Overvoltage ••If this alarm generates during warning” parameter due to operation, reduce the load or Overvoltage 22 regeneration, etc. increase the acceleration/ ••The power supply voltage deceleration rate. exceeded the value set in the ••Check the power supply voltage. “Overvoltage warning” parameter. RS-485 communication A RS-485 communication error was See “10 Detection of 84 error detected. communication errors” on p.133.
178 Troubleshooting and remedial actions 3 Troubleshooting and remedial actions
During motor operation, the motor or driver may fail to function properly due to an improper speed setting or wiring. When the motor cannot be operated correctly, refer to the contents provided in this section and take appropriate action. If the problem persists, contact your nearest Oriental Motor sales office.
Phenomenon Possible cause Remedial action ••Turn the AWO input OFF and confirm that the The AWO input is turned ON (normally motor will be excited. open). ••Check the setting of the “AWO contact configuration” parameter. ••The motor is not excited. Connection error in the motor lead wires or Check the connections between the driver, ••The motor output shaft can power supply cable. motor and power supply. be moved by hand. The “Operating current” or “Standstill current” parameter is set wrong. If the Return the “operating current” or “standstill current is too low, the motor torque will current” to its initial setting and check. also be too low and operation will be unstable. ••Turn the STOP input ON. The STOP input is turned OFF (normally closed). ••Check the setting of the “STOP contact configuration” parameter. The position (distance) is not set in the operation data while positioning Check the operation data. The motor does not operate. operation. The FWD input and RVS input are turned ON simultaneously in the continuous Check the status of FWD input and RVS input. operation. Electromagnetic brake is holding Release the electromagnetic brake by turning (electromagnetic brake motor only). the power on. The motor rotates in the The “Motor rotation direction” parameter is Check the setting of the “Motor rotation direction opposite to the set wrong. direction” parameter. specified direction. ••With TH geared type, the gear rotates in the The gear output shaft rotates in direction opposite to the motor when the A gear that rotates in the direction troubleshooting and remedial actions 7 Inspection, the direction opposite to the gear ratio is 20 or 30. opposite to the motor shaft is used. motor. ••All Harmonic geared types rotate in the direction opposite motor rotation. Connection error in the motor lead wires or Check the connections between the driver, power supply cable. motor and power supply. The “Operating current” or “Standstill Motor operation is unstable. current” parameter is set wrong. If the Return the “Operating current” or “Standstill current is too low, the motor torque will current” parameter to its initial setting and also be too low and operation will be check. unstable. The centers of the motor output shaft and Check the connection condition of the motor load shaft are not aligned. output shaft and load shaft. Check for large load fluctuations during operation. If adjusting the operating speed to The load or load fluctuation is too high. low and high torque eliminates the problem, it Loss of synchronization during is necessary to review the load conditions. acceleration or running. Lower the starting speed and set it again to a The starting speed is too high. speed at which stable starting is possible. Make the acceleration/deceleration rate longer The acceleration/deceleration rate is too in order to reset it to a time at which stable short. starting is possible.
179 Troubleshooting and remedial actions
Phenomenon Possible cause Remedial action With the electromagnetic brake To hold the load with the electromagnetic DC power is supplied to the type, the electromagnetic brake brake while motor is stopped, turn OFF the electromagnetic brake. does not hold the load. power supply for electromagnetic brake. Motor does not move the set Wrong motor step angle settings. Check the “Motor step angle” parameter. amount.
I/O signals can be monitored using the MEXE02, OPX-2A or RS-485 communication. Use these accessories to check the wiring conditions of I/O signals. 7 Inspection, troubleshooting and remedial actions 7 Inspection,
180 8 Appendix
This part explains accessories that are used in combination with the products and method of control via GW protocol Version 1.
Table of contents
1 Accessories...... 182 2 Method of control via GW protocol Version 1...... 183 2-1 Guidance...... 183 2-2 Communication specifications...... 186 2-3 Setting the switches...... 187 2-4 Communication mode...... 188 2-5 Communication timing...... 189 2-6 Frame structures...... 189 2-7 Control method selection...... 192 2-8 Example of communication setting...... 193 2-9 Command list...... 196 2-10 Command types...... 199 2-11 Command details...... 200 2-12 Simultaneous send...... 220 2-13 Group send...... 220 2-14 Detection of communication errors...... 222 2-15 Timing charts...... 223 Accessories 1 Accessories
Communication cable for the support software Be sure to purchase the communication cable for the support software when connecting a driver and PC in which the support software MEXE02 has been installed. This is a set of a PC interface cable and USB cable. The cable is connected to the USB port on the PC. Model: CC05IF-USB [5 m (16.4 ft.)] The MEXE02 can be downloaded from Oriental Motor Website Download Page. Also, the MEXE02 is provided in the form of a storage medium. For details, check out our web site or contact your nearest Oriental Motor sales office.
Data setter The data setter lets you set data and parameters for your CRK Series built-in controller with ease and also functions as a monitor. Model: OPX-2A
Extension cable This cable is used to extend the wiring distance between the driver and motor.
Model Length [m (ft.)] Number of cores CC05PK5 5 (16.4) 5 CC10PK5 10 (32.8)
Connector lead wire The lead wires come preassembled with a crimped connector for easy connection of a encoder and driver. Model: LC09A-006 [0.6 m (2 ft.)]
RS-485 communication cable You can link drivers using this cable connected to the RS-485 communication connectors (CN6, CN7). Model: CC001-RS4 [0.1 m (0.3 ft.)] 8 Appendix
182 Method of control via GW protocol Version 1 2 Method of control via GW protocol Version 1
GW protocol Version 1 is Oriental Motor’s proprietary protocol at a fixed length of 9 bytes. Various functions such as motor operation, parameter read/write, monitoring and maintenance are available under this protocol.
2-1 Guidance
If you are new to the CRK Series built-in controller, read this section to understand the operating methods along the operation flow.
Before operating the motor, check the condition of the surrounding area to ensure safety.
STEP 1 Check the installation and connection
PC in which the MEXE02 Check has been installed OPX-2A RS-485 communication cable connection Or
Master controller
Check Check Motor connection MEXE02 or OPX-2A connection
Check CN4 connector lead wires * Motor and driver installation
Check 8 Appendix Power supply Grounding connection
** Included item.
183 Method of control via GW protocol Version 1
STEP 2 Set the switches
MEXE02 OPX-2A Set the terminal resistor as necessary. ON Or
Master controller
Set the baud rate, connection destination and slave address.
Set the slave address Set the connection destination (ON: General-purpose master device) Set the baud rate (example: 9,600 bps) Grounding
STEP 3 Turn on the power supply and set the parameters
MEXE02 OPX-2A
Or
Master controller
Set the following system parameters via MEXE02 or 8 Appendix OPX-2A. Communication protocol : 1 (GW Ver.1)
Set the following parameters via MEXE02, OPX-2A or RS-485 communication. Turn power supply on START input mode : 0 (RS-485 communication) HOME/FWD/RVS input mode : 0 (RS-485 communication) Grounding Data No. input mode : 0 (RS-485 communication) Motor excitation mode : 0 (RS-485 communication) I/O STOP input : 0 (Disable)
STEP 4 Cycle the power
System parameters will become effective only after the power is cycled. If you have changed any of the system parameters, be sure to cycle the power.
184 Method of control via GW protocol Version 1
STEP 5 Operate the motor
MEXE02 OPX-2A 1. Send operation data from the master controller. Or 2. Send an operation command. Master controller
3. Con rm that the motor rotates without problem.
Grounding
STEP 6 Were you able to operate the motor properly?
How did it go? Were you able to operate the motor properly? If the motor does not function, check the following points: •• Is any alarm present? •• Are the power supply, motor and RS-485 communication cable connected securely? •• Are the address number, baud rate and terminal resistor set correctly? •• Is the C-ERR LED lit? •• Is the C-DAT LED lit? For more detailed settings and functions, refer to the following pages. 8 Appendix
185 Method of control via GW protocol Version 1
2-2 Communication specifications
In conformance with EIA-485, straight cable Electrical characteristics Use a twisted pair cable (TIA/EIA-568B CAT5e or higher is recommended) and keep the total wiring distance including extension to 50 m (164 ft.) or less. * Communication mode Half duplex, Asynchronous mode (8 bits, 1 stop bit, no parity) Selectable from 9,600 bps, 19,200 bps, 38,400 bps, 57,600 bps, 115,200 bps, Baud rate 250,000 bps, 312,500 bps and 625,000 bps. Protocol 9-byte fixed frame length, binary transfer Connection pattern Up to 31 drivers can be connected to one master controller.
** If the motor cable or power supply cable generates an undesirable amount of noise depending on the wiring or configuration, shield the cable or install a ferrite core.
Connection example
Master controller Terminal resistor (SW3): ON RS-485 communication cable
Terminal resistor
Grounding Grounding Grounding Address number 1 Address number 2Address number 31
Master controller RS-485 Driver 1 TR+ TR- *1 GND SW3 TR+ 120 Ω TR- 8 Appendix GND 0 V 0 V *3 Driver 2 TR+ TR- GND SW3 TR+ 120 Ω TR- GND 0 V *3 Driver 31 TR+ TR- GND SW3 *2 120 Ω
0 V *3
*1 Terminal resistor 120 Ω *2 Turn the terminal resistor (SW3) to ON. *3 The GND line is used in common with CN1 (not insulated).
186 Method of control via GW protocol Version 1
2-3 Setting the switches
Address number setting switch (SW1) Set the connection destination. (SW2-No.4) Set the baud rate. (SW2-Nos.1 to 3)
Be sure to turn off the driver power before setting the switches. If the switches are set while the power is still on, the new switch settings will not become effective until the driver power is cycled.
Address number Using the address number setting switch (SW1) and “Communication axis number” parameter, set the address number. If SW1 is set to “F,” the address number set in the “Communication axis number” parameter is selected. (initial value: 15). Make sure each address number you set for each driver is unique. Factory setting 0 (address number 0)
SW1 Address number SW1 Address number SW1 Address number 0 0 6 6 C 12 1 1 7 7 D 13 2 2 8 8 E 14 3 3 9 9 F * 4 4 A 10 5 5 B 11
** Setting value of “Communication axis number” parameter. The default value of the “Communication axis number” parameter is “15.” Set the “Communication axis number” parameter using the MEXE02 or OPX-2A.
Setting the connection destination
Set the SW2-No.4 of the function setting switch to ON. The GW protocol Version 1 is selected. 8 Appendix Factory setting OFF
Baud rate Using the Nos.1 to 3 of the function setting switch (SW2), set the baud rate. The baud rate to be set should be the same as the baud rate of the master controller. Factory setting All ON (625,000 bps)
Baud rate (bps) SW2-No.3 SW2-No.2 SW2-No.1 9,600 OFF OFF OFF 19,200 OFF OFF ON 38,400 OFF ON OFF 57,600 OFF ON ON 115,200 ON OFF OFF 250,000 ON OFF ON 312,500 ON ON OFF 625,000 ON ON ON
187 Method of control via GW protocol Version 1
Terminal resistor Use a terminal resistor for the driver located farthest away (positioned at the end) from the master controller. Turn the terminal resistor setting switch (SW3) ON to set the terminal resistor for RS-485 communication (120 Ω). Factory setting OFF (terminal resistor disabled)
1 N.C. 2 GND 3 TR+ 4 N.C. 5 N.C. 6 TR- 7 N.C. 8 N.C.
Terminal resistor setting 1 N.C. 2 GND SW3 switch (SW3) 3 TR+ 4 N.C. 120 Ω OFF 5 N.C. 6 TR- 7 N.C. ON 8 N.C. 0 V * SW3 Terminal resistor (120 Ω) ** The GND line is used in common with CN1 (not insulated). OFF Disabled ON Enabled
2-4 Communication mode
This products uses the communication mode where one master controller acts as master and this driver serves as the slave, and the slave returns one frame in response to each frame received from the master. Frames are sent in one of three methods.
Individual send
Send a frame to each slave. Master Frame Slave Frame
Simultaneous send
8 Appendix Send a frame to all slaves simultaneously. In simultaneous send, no Master Frame response is returned from the slaves. The operation specifications and Slave No response commands that can be sent via simultaneous send are limited.
Group send
A frame is sent simultaneously to all of the slaves Frame (sent to Master comprising one group. Each group consists of one the master axis) master axis and one or more slave axes, and only the Master axis Slave Frame master axis returns a response. The commands that can be sent via group send are limited. Frame (sent to Master the master axis) Slave axis Slave Executes the process but does not send a response.
188 Method of control via GW protocol Version 1
2-5 Communication timing
T1 T4 (simultaneous send)
T3 T2 T3 T4
Master Frame Frame Slave Frame
The period of the received frame is monitored. If no frame is received after an elapse of the time set by the “Receive period” command, a communication timeout alarm Receive period (T1) will generate. Even when a frame is not sent to the applicable unit, once a BCC- matching frame is received the receive period counter will be cleared and counting will start fresh. The interval after the master receives a frame until the slave starts sending. This Response interval (T2) interval can be set using the “Response interval” command. The time needed for the master or slave to send one entire frame from the header to Receive monitor period (T3) BCC is monitored. If no BCC is received after an elapse of the time set by the “Receive monitoring” command, the slave will discard the frame and wait for the header. The interval after the slave receives a frame until the master sends the next frame. Send interval (T4) This interval must be 0.5 ms or longer in the case of individual send or group send, or 5 ms or longer in the case of simultaneous send.
2-6 Frame structures
The frame structure used for sending data from the master to the slave is shown below.
Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC
The frame structure used for sending data from the slave to the master is shown below.
Header Action entry Mode/NACK Command Data 1 Data 2 Data 3 Data 4 BCC
Header Master: Specify the receiving slave. Slave: Change the sender to “slave” and send a response.
bit Function Description Behavior 8 Appendix 7 “0” specification System-reserved bit − 0: Slave 6 Sender Specify the sender. *1 1: Master 0: Individual send 5 Send specification Specify the send mode from the master. *2 1: Simultaneous send 4 3 00h (address number 0) to 2 Address number Specify the address number of the slave using five bits. 1Fh (address number 31) 1 0
*1 Send the frame after setting the master controller to “1: Master.” *2 Simultaneous send can be specified only for the master. If simultaneous send is specified, send the frame after setting the address number to “0.”
189 Method of control via GW protocol Version 1
Action entry Master: Specify the operation to be performed by the slave. Slave: Sends directly the action entry data received from the master.
bit Function Description Behavior 7 “0” specification System-reserved bit *1 − 0: WRITE 6 WRITE/READ Write or read data. *2 1: READ 0: No action 5 STOP Stop the motor. *3*4 1: Stop 4 Not used − − 0: No action 3 HOME Perform return-to-home operation. *4 *5 1: Start operation Perform continuous operation in the 2 RVS reverse direction. *4 *6 *7 0: Deceleration stop Perform continuous operation in the 1: Operation 1 FWD forward direction. *4 *6 *7 0: No action 0 START Perform positioning operation. *4 *5 *7 1: Start operation
*1 When “1” is specified, a reception failure will be recognized. Accordingly, the frame will be discarded and NACK will be returned. *2 Specify whether it is a WRITE or READ command. Other operation command bits are executed regardless of the WRITE/READ specification. *3 The stopping method can be set using the “STOP action (13h)” command. *4 The operation command bits have priorities. Specifically, “1” is detected in the order of STOP > FWD/RVS > HOME > START. *5 Operation is started at the ON edge of this bit (when the bit changes from 0 to 1). Once the operation has started, return this bit to “0.” *6 Operation continues while this bit remains “1.” Returning it to “0” will cause the motor to decelerate to a stop. *7 Select the operation data number using the “Data number selection” command and specify it using the mode command.
Commands (WRITE/READ) and operation commands (STOP, HOME, RVS, FWD, START) can be sent simultaneously. Since the operation is started after writing, data setting and operation can be performed simultaneously.
Mode Master: Specify the data number. If any out-of-range mode is specified, a reception failure will be recognized.
8 Appendix Accordingly, the frame will be discarded and NACK will be returned.
Mode Description If the command requires a data number, specify an applicable data number. 00h to 3Fh If the command does not require any data number, specify “00h.”
Slave: If the communication is performed successfully, the master mode will be returned directly.
Mode Description 00h to 3Fh The master mode will be returned directly (successful reception). FFh This indicates a reception failure (NACK).
190 Method of control via GW protocol Version 1
If any of the following conditions are met, the frame will be discarded and NACK will be returned. The reason for NACK can be checked by the applicable communication error record. •• The system reservation bit of the operation specification is “1.” •• An undefined mode is specified. •• An undefined ommandc is specified. •• A command that cannot WRITE is specified. •• A command that cannot READ is specified. •• The value in the data area was outside the specified range. •• The command was specified in one of the following conditions: · An EEPROM error alarm was present. · Downloading or initialization is currently in progress via the MEXE02. · The OPX-2A is currently connected in a mode other than the monitor mode. · Internal processing was in progress.
Command Master: Specify the command. Slave: Sends directly the command received from the master. The commands are classified into the following six types: •• Operation data...... WRITE/READ operation data. (These commands can also be set using the MEXE02 or OPX-2A.) •• Parameter...... WRITE/READ parameter. (These commands can also be set using the MEXE02 or OPX-2A.) •• Operation...... Specify operations. •• Monitor...... Monitor the current speed, position, I/O status, etc. •• Maintenance...... Used in maintenance processes. •• Special...... Set group send. See p.200 for command details.
Data area Specify the value to be set in the command. Specify data in the signed 4 byte binary format. The 4 byte data is expressed in the little endian order. Master : With a WRITE command, specify the data to be written. Slave : With a WRITE command, the master data will be returned directly. With a READ command, the data that has been read will be returned. If the reception failed (NACK), the master data will be returned directly. Any numerical value included in the master data will be ignored. Example) When the “01234567h” is set in the data area The data is sent from the lower byte, so the following values will be stored in the data area:
Data 1 Data 2 Data 3 Data 4 67h 45h 23h 01h
If the value set in a WRITE command is outside the setting range for the applicable command, the frame will be discarded and NACK will be returned. If a function is assigned to any bit in the data area 8 Appendix of the command [Example: I/O status (39h)], “0” will always be returned whenever a bit to which no function is assigned is read.
BCC A horizontal parity used to detect errors in the frame data. The CRC is a logical sum of all bytes from the header to data 4, calculated by the exclusive-OR gate.
191 Method of control via GW protocol Version 1
Example of frame transmission/reception An example of setting the position (travel amount) for operation data No. 1 to 500 pulses is given.
Sent from Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC the master 40h 00h 01h A0h F4h 01h 00h 00h 14h
Position Travel amount corresponding Operation data No.1 to 500 pulses: 01F4h WRITE (sent from the lower byte) Sender: Master Address number: 0
Returned from Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC the slave 00h 00h 01h A0h F4h 01h 00h 00h 54h
Position Travel amount corresponding Operation data No.1 to 500 pulses: 01F4h WRITE (sent from the lower byte) Sender: Slave Address number: 0
2-7 Control method selection
Setting the communication protocol To implement controls using GW Protocol Version 1, set the “Communication protocol” parameter to “1: GW Ver. 1” using the MEXE02 or OPX-2A.
The “Communication protocol” parameter cannot be set via RS-485 communication.
Selection from I/O control and RS-485 communication control Prior to shipment, I/O control is set as the method to select the operation command input method or operation data number. To change this control method to RS-485 communication, change the applicable settings using the MEXE02, OPX-2A or via RS-485 communication. The table lists the items whose control can be switched between I/O and RS-485 communication. You can use both methods simultaneously, such as controlling the operation via RS-485 communication and inputting a stop signal via
8 Appendix I/O.
Method of Method of control via RS-485 This command is used to change Item control via I/O communication the control method. Positioning operation START input START (bit 0) of action entry START input mode Excitation control AWO input “Excitation control” command Motor excitation mode Stop STOP input STOP (bit5) of action entry * I/O STOP input Select data No. M0 to M5 input “Data number selection” command Data number input mode Return-to-home HOME input HOME (bit3) of action entry operation Continuous operation FWD input FWD (bit1) of action entry HOME/FWD/RVS input mode (forward) Continuous operation RVS input RVS (bit2) of action entry (reverse) Reset alarm ALM-RST input “Alarm reset” command None (Both are always effective) Position preset P-PRESET input “Position preset” command
** The operation specification STOP is always effective. Even when the “I/O STOP input” parameter is set to “Enable”, the motor will stop when the operation specification STOP is executed.
192 Method of control via GW protocol Version 1
2-8 Example of communication setting
The data required for each operation is set using the MEXE02, OPX-2A or via RS-485 communication.
Positioning operation See p.61 for details on the positioning operation.
Command Name Setting range Initial value 0Eh Dwell time 0 to 50,000 (1=0.001 s) 0 0: Disable 0Fh Sequential positioning 0 1: Enable 0: INC (incremental) 10h Positioning mode 0 1: ABS (absolute) 0: Single 11h Operating mode 1: Link 0 2: Link2 80h Starting speed *1 1 to 500,000 (Hz) 100 82h Acceleration rate *2 0.001 to 1,000.000 (ms/kHz) 30.000 83h Deceleration rate *2 88h Operating speed 1 to 500,000 (Hz) 1,000 A0h Position −8,388,608 to +8,388,607 (step) 0
*1 The starting speed is common to all operation data used in a positioning operation and continuous operation. Other commands can be set for each operation data. *2 This command is effective when the “Acceleration (deceleration) rate type” parameter is set to “separate.” If this parameter is set to “common”, the values of common acceleration rate and common deceleration rate become effective (initial value: common).
••The excitation condition of the motor at the power ON varies depending on the “C-ON logic configuration” parameter. The motor is not excited if the “C-ON logic configuration” parameter is set to “0,” and excited if the parameter is set to “1.” ••The factory setting of the STOP input is normally closed. Accordingly, turn the I/O STOP input ON before commencing the operation if the “I/O STOP input” parameter is set to “enable.” The operation cannot be performed if the STOP input remains OFF. For your information, the STOP input logic can be changed using the “STOP contact configuration” command. ••The motor will operate at the starting speed if the operating speed is below the starting speed.
zz Setting example How to perform the following positioning operation is explained as an example.
•• Address number: 0 8 Appendix •• Position (distance): 1,000 step •• Operating speed: 5,000 Hz 1. Set the respective parameters as follows using the MEXE02, OPX-2A or via RS-485 communication:
Parameter name Setting START input mode 0: RS-485 communication I/O STOP input 0: Disable Motor excitation mode 0: RS-485 communication Data No. input mode 0: RS-485 communication
2. Send the following frame to turn ON the motor excitation.
Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC 40h 00h 00h 22h 01h 00h 00h 00h 63h
3. Send the following frame to set the position (travel amount) for operation number No. 1 to 1,000 steps.
Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC 40h 00h 01h A0h E8h 03h 00h 00h 0Ah
193 Method of control via GW protocol Version 1
4. Send the following frame to set the operating speed for operation data No. 1 to 5,000 Hz.
Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC 40h 00h 01h 88h 88h 13h 00h 00h 52h
5. Send the following frame to select operation data No. 1 and change the START bit to 1 (operation start). Positioning operation will start at the ON edge of the bit (when the bit changes from 0 to 1).
Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC 40h 01h 01h 00h 00h 00h 00h 00h 40h
6. Once the positioning operation has started, send the following frame to return the START bit to 0 (no operation).
Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC 40h 00h 01h 00h 00h 00h 00h 00h 41h
Return-to-home operation See p.70 for details on the return-to-home operation.
Command Name Setting range Initial value 0: 2 sensors 12h Home-seeking mode 1 1: 3 sensors 93h Starting speed of home-seeking 1 to 500,000 (Hz) 100 Acceleration/deceleration rate of 94h 0.001 to 1,000.000 (ms/kHz) 30.000 home-seeking 95h Operating speed of home-seeking 1 to 500,000 (Hz) 1,000 A8h Position offset of home-seeking −8,388,608 to +8,388,607 (step) 0 0: − direction A9h Starting direction of home-seeking 1 1: + direction 0: Disable AAh SLIT detection with home-seeking 0 1: Enable 0: Disable TIM signal detection with home- ABh 1: Enable (TIM) 0 seeking 2: Enable (ZSG) * Backward steps in 2-sensor mode ACh 0 to 32,767 (step) 200 home-seeking
** This signal is used when an encoder is connected. 8 Appendix ••The excitation condition of the motor at the power ON varies depending on the “C-ON logic configuration” parameter. The motor is not excited if the “C-ON logic configuration” parameter is set to “0,” and excited if the parameter is set to “1.” ••The factory setting of the STOP input is normally open. Accordingly, turn the I/O STOP input ON before commencing the operation if the “I/O STOP input” parameter is set to “enable.” The operation cannot be performed if the STOP input remains OFF. For your information, the STOP input logic can be changed using the “STOP contact configuration” command. ••The motor will operate at the starting speed if the operating speed is below the starting speed.
zz Setting example How to perform the following return-to-home operation is explained as an example. •• Address number: 0 1. Set the respective parameters as follows using the MEXE02, OPX-2A or via RS-485 communication:
Parameter name Setting I/O STOP input 0: Disable Motor excitation mode 0: RS-485 communication HOME/FWD/RVS input mode 0: RS-485 communication Data No. input mode 0: RS-485 communication
194 Method of control via GW protocol Version 1
2. Send the following frame to turn ON the motor excitation.
Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC 40h 00h 00h 22h 01h 00h 00h 00h 63h
3. Send the following frame to change the HOME bit to 1 (operation start). Return-to-home operation will start at the ON edge of the bit (when the bit changes from 0 to 1).
Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC 40h 08h 00h 00h 00h 00h 00h 00h 48h
4. Once the return-to-home operation has started, send the following frame to return the HOME bit to 0 (no operation).
Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC 40h 00h 00h 00h 00h 00h 00h 00h 40h
Continuous operation See p.75 for details on the continuous operation.
Command Name Setting range Initial value 80h Starting speed *1 1 to 500,000 (Hz) 100 82h Acceleration rate *2 0.001 to 1,000.000 (ms/kHz) 30.000 83h Deceleration rate *2 88h Operating speed 1 to 500,000 (Hz) 1,000
*1 The starting speed is common to all operation data used in a positioning operation and continuous operation. Other commands can be set for each operation data. *2 This command is effective when the “Acceleration (deceleration) rate type” parameter is set to “separate.” If this parameter is set to “common”, the values of common acceleration rate and common deceleration rate become effective. (initial value: common)
••The excitation condition of the motor at the power ON varies depending on the “C-ON logic configuration” parameter. The motor is not excited if the “C-ON logic configuration” parameter is set to “0,” and excited if the parameter is set to “1.” ••The factory setting of the STOP input is normally open. Accordingly, turn the I/O STOP input ON before commencing the operation if the “I/O STOP input” parameter is set to “enable.” The operation cannot be performed if the STOP input remains OFF. For your information, the STOP input logic can be changed using the “STOP contact configuration” command. ••The motor will operate at the starting speed if the operating speed is below the starting speed. 8 Appendix zz Setting example How to perform the following continuous operation is explained as an example. •• Access number: 0 •• Rotation direction: Forward •• Operating speed: 5,000 Hz 1. Set the respective parameters as follows using the MEXE02, OPX-2A or via RS-485 communication:
Parameter name Setting I/O STOP input 0: Disable Motor excitation mode 0: RS-485 communication HOME/FWD/RVS input mode 0: RS-485 communication Data No. input mode 0: RS-485 communication
2. Send the following frame to turn ON the motor excitation.
Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC 40h 00h 00h 22h 01h 00h 00h 00h 63h
195 Method of control via GW protocol Version 1
3. Send the following frame to set the operating speed for operation number No. 1 to 5,000 Hz.
Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC 40h 00h 01h 88h 88h 13h 00h 00h 52h
4. Send the following frame to select operation data No. 1 and change the FWD bit to 1 (operation start). Continuous operation will start.
Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC 40h 02h 01h 00h 00h 00h 00h 00h 43h
5. To stop the continuous operation, send the following frame to return the FWD bit to 0 (deceleration stop).
Header Action entry Mode Command Data 1 Data 2 Data 3 Data 4 BCC 40h 00h 01h 00h 00h 00h 00h 00h 41h
2-9 Command list
Command WRITE/ Mode Command name Data area Initial value Type No. READ (Dec) No action R 0 00h − − Operation Data number selection W 0 to 63 0: Not monitored 01h Receive period 1 to 999: 0.01 to 9.99 sec. 0 (1=0.01 sec.) 02h Response interval 0 to 1,000 (ms) 50 1 to 999: 0.01 to 9.99 sec. 03h Receive monitoring 10 (1=0.01 sec.) 04h OUT1 signal mode selection 5 Parameter 05h OUT2 signal mode selection 7 See table on p.199. 06h OUT3 signal mode selection 8 0 07h OUT4 signal mode selection 9 HOME/P-PRESET input 0: HOME 08h 0 switching 1: P-PRESET 0: Disable 0Bh Group operation 1 1: Enable Special −1: Individual send
8 Appendix 0Ch Group −1 0 to 31: Specify a group. Communication timeout W/R 0: Immediate stop 0Dh 1 Parameter action 1: Decelerate stop 0Eh Dwell time 0 to 50,000 (1=0.001 s) 0: Disable 0Fh Sequential positioning 1: Enable 0: INC (incremental) Operation 10h Positioning mode 1 to 63 0 1: ABS (absolute) data 0: Single 11h Operating mode 1: Link 2: Link2 0: 2 sensors 12h Home-seeking mode 1: 3 sensors 0: Immediate stop 0 1: Decelerate stop 1 Parameter 2: Immediate stop & Current 13h STOP action OFF 3: Decelerate stop & Current OFF
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Command WRITE/ Mode Command name Data area Initial value Type No. READ (Dec) 0: Immediate stop 14h Overtravel action 0 1: Decelerate stop 1Ah LS contact configuration HOMES contact 1Bh 0 configuration 0: Make (N.O.) W/R Parameter 1Ch SLIT contact configuration 1: Brake (N.C.) 1Dh STOP contact configuration 1 1Eh AWO contact configuration 0 0: 0=Not excited, 1=Excited 1Fh C-ON logic configuration 0 1: 0=Excited, 1=Not excited 20h Clear counter − 21h Reset alarms 0: 0=Not excited, 1=Excited if the "C-ON logic configuration" parameter is 0 22h Excitation control W − Operation 1: 0=Excited, 1=Not excited if the "C-ON logic configuration" parameter is 1 0 23h Preset position − 24h Preset encoder counter * 25h Clear alarm records 26h Clear warning records W 1: Execute − Maintenance Clear communication error 27h records 0: OFF (photocoupler 32h Remote output W/R un-energized) 0 Operation 1: ON (photocoupler energized) 35h Remaining dwell time 0 to 50,000 (1=0.001 s) Display selection data 36h number 00h to 3Fh (0 to 63) Display operation data 37h number 0: OFF (photocoupler 39h I/O status R un-energized) − Monitor 1: ON (photocoupler energized) 8 Appendix 3Ch Driver status Communication error 3Dh record − 0 to 10 3Eh Alarm record 3Fh Warning record 40h Operating current 5 to 100 (%) 100 41h Standstill current 5 to 50 (%) 50 W/R 0: +direction=CCW Parameter 43h Motor rotation direction 1 1: +direction=CW 44h Motor step angle 0 to 15 0 Batch non-volatile memory 48h 0 write 49h Batch all data initialization W 1: Execute − Maintenance Batch non-volatile memory 4Ah read 4Bh Encoder electronic gear A * W/R 1 to 250,000 500 Parameter 4Ch Encoder electronic gear B *
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Command WRITE/ Mode Command name Data area Initial value Type No. READ (Dec) 80h Starting speed 0 1 to 500,000 (Hz) 100 Parameter 82h Acceleration rate W/R 0.001 to 1,000.000 (ms/kHz) 30.000 Operation 83h Deceleration rate 1 to 63 data 88h Operating speed 1 to 500,000 (Hz) 1,000 8Bh Command speed R −500,000 to 500,000 (Hz) − Monitor Acceleration (deceleration) 0: Common 8Dh 0 rate type 1: Separate 8Eh Common acceleration rate 1 to 1,000,000 30.000 8Fh Common deceleration rate (1=0.001 ms/kHz) 90h JOG starting speed 1 to 500,000 (Hz) 100 JOG acceleration 91h 0.001 to 1,000.000 (ms/kHz) 30.000 (deceleration) rate 92h JOG operating speed 1,000 Starting speed of home- 1 to 500,000 (Hz) 93h 100 seeking 0 Parameter Acceleration (deceleration) 94h W/R 0.001 to 1,000.000 (ms/kHz) 30.000 rate of home-seeking Operating speed of home- 95h 1 to 500,000 (Hz) 1,000 seeking HOME/FWD/RVS input 98h mode
99h START input mode 0: RS-485 communication 1 9Ah I/O STOP input 1: I/O 9Bh Motor excitation mode 9Ch Data No. input mode Operation A0h Position 1 to 63 −8,388,608 to +8,388,607 (step) 0 data A1h Command position −2,147,483,648 to R − Monitor A2h Encoder counter * +2,147,483,647 (step) Encoder counter preset A3h value * A4h Preset position A5h Area 1 −8,388,608 to +8,388,607 (step) 0
8 Appendix A6h Area 2 Position offset of home- A8h seeking Starting direction of home- 0: Negative direction A9h 1 seeking 1: Positive direction SLIT detection with home- 0: Disable AAh 0 0 seeking 1: Enable W/R Parameter 0: Disable TIM signal detection with ABh 1: Enable (TIM) 0 home-seeking 2: Enable (ZSG) * Backward steps in 2-sensor ACh 0 to 32,767 (step) 200 mode home-seeking B1h Overvoltage warning 250 to 350 (1=0.1 V) 310 B2h Overheat warning 40 to 85 (°C) 85 0: Disable B7h Software overtravel 1 1: Enable B8h Positive software limit 8,388,607 −8,388,608 to +8,388,607 (step) B9h Negative software limit −8,388,608
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Command WRITE/ Mode Command name Data area Initial value Type No. READ (Dec) Hardware overtravel 0: Disable BAh 1 detection 1: Enable BBh Stepout detection band * 1 to 3,600 (1=0.1 deg) 72 0: No action (alarm/warning not present) BCh Stepout detection action * 0 1: Warning W/R 0 2: Alarm Parameter 0: Disable BDh Stepout detection * 0 1: Enable Display mode of the data 0: Signed CAh 0 setter speed 1: Absolute The data setter editing 0: Disable CBh 1 mode 1: Enable
** This command is used when an encoder is connected.
Setting range of the "OUT signal mode selection" parameter
5: AREA 8: WNG 11: R-OUT1 14: O.H. 6: TIM 9: HOME-P 12: R-OUT2 15: R-OUT3 7: READY 10: ZSG * 13: STEPOUT * 16: R-OUT4
** This signal is used when an encoder is connected.
2-10 Command types
Data set via RS-485 communication is stored in the driver’s RAM. The data saved in the RAM will be erased once the power is turned off. To retain the data in the RAM, write it to the non-volatile memory. For details, refer to the “Batch non-volatile memory write” command (p.210).
Operation data These commands are used to WRITE/READ operation data. They can also be set using the MEXE02 or OPX-2A. If the value set in a WRITE command is outside the setting range for the applicable command, the frame will be discarded and NACK will be returned. If data is written under any of the following conditions, the command execution will fail. Accordingly, the frame will be discarded and NACK will be returned. If data is read under any of these conditions, an incorrect value may be read.
For these reasons, do not write or read data under these conditions. 8 Appendix •• An EEPROM error alarm was present. •• Downloading or initialization is currently in progress via the MEXE02. •• The OPX-2A is currently connected in a mode other than the monitor mode. •• Internal processing was in progress. (S-BSY is ON.)
Parameter These commands are used to WRITE/READ parameter. They can also be set using the MEXE02 or OPX-2A. If the value set in a WRITE command is outside the setting range for the applicable command, the frame will be discarded and NACK will be returned. If data is written under any of the following conditions, the command execution will fail. Accordingly, the frame will be discarded and NACK will be returned. If data is read under any of these conditions, an incorrect value may be read. For these reasons, do not write or read data under these conditions. •• An EEPROM error alarm was present. •• Downloading or initialization is currently in progress via the MEXE02. •• The OPX-2A is currently connected in a mode other than the monitor mode. •• Internal processing was in progress. (S-BSY is ON.)
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Maintenance These commands are used to clear alarm or warning records or perform batch processing of the non-volatile memory. When a maintenance command is executed, the internal process in-progress bit (S-BSY) will turn ON. If data is written under any of the following conditions, the command execution will fail. Accordingly, the frame will be discarded and NACK will be returned. (However, this does not apply to the “Communication error record clear” command.) •• An EEPROM error alarm was present. (The “Batch non-volatile memory initialization” command can be executed in this condition.) •• Downloading or initialization is currently in progress via the MEXE02. •• The OPX-2A is currently connected in a mode other than the monitor mode. •• Internal processing was in progress. (S-BSY is ON.)
Operation These commands specify operations. The setting will be reflected immediately after the reception analysis.
Monitor These commands are used to monitor the current speed, position, I/O status, etc. After the reception analysis, the applicable status will be returned.
Special Set group send. The setting will be reflected immediately after the reception analysis.
2-11 Command details
No action (00h)
Description Use this command if you don’t want to process any command. Action entry READ (If WRITE is specified, the “Data number selection” command will be executed.) Type Operation command Mode 00h The data area values will be ignored. The same value as the data sent from the master will be Data area returned.
Data number selection (00h)
Description Selects operation data No. for positioning operation or continuous operation. Action entry WRITE (If READ is specified, the “No action” command will be executed.)
8 Appendix 00h to 3Fh (0 to 63) Specifies the operation data number. Since the operation data number is refreshed by the “Data Mode number selection” command, it will be retained until the next “Data number selection” command is set. Type Operation command Data area The data area values will be ignored.
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Receive period (01h)
Description Set the receive period for RS-485 communication. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: Not monitored Data area Initial value 0 1 to 999: 0.01: 9.99 sec. (1 = 0.01 sec.)
Set the receive period to “receive monitoring (T3) × 2 + response interval (T2) + send interval (T4)” or more. If this formula is not satisfied, a communication timeout error may occur during communication.
Response interval (02h)
Description Sets the response period for RS-485 communication. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0 to 1,000 (ms) Data area Initial value 50 If 0 ms is set, sending will start immediately.
Receive monitor period (03h)
Description Sets the receive monitor period for RS-485 communication. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h Data area 1 to 999: 0.01: 9.99 sec. (1 = 0.01 sec.) Initial value 10
OUT1 to 4 signal mode selection (04h to 07h)
Description Sets the function assigned to the OUT1 to OUT4 output. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 8 Appendix OUT1: 5 5: AREA 8: WNG 11: R-OUT1 14: O.H. OUT2: 7 Data area 6: TIM 9: HOME-P 12: R-OUT2 15: R-OUT3 Initial value OUT3: 8 7: READY 10: ZSG * 13: STEPOUT * 16: R-OUT4 OUT4: 9
** These signals are used when an encoder is connected.
HOME/P-PRESET input mode (08h)
Description Sets whether to use HOME or P-PRESET input. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: HOME Data area Initial value 0 1: P-PRESET
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Group operation (0Bh)
Use this command for group send. This command sets whether to enable or disable operation Description specifications and operation commands sent to each unit. Action entry WRITE/READ Type Special command Mode 00h 0: Disable Data area 1: Enable Initial value 1 See table next.
Command to individual unit Command to group Setting Action entry Operation command Action entry Operation command 0 (disable) × × 1 (enable)
The specified group operation is not saved in the non-volatile memory, and therefore the initial value will be restored once the power is cut off.
Group (0Ch)
Description Specifies the group to be used in group send. Action entry WRITE/READ Type Special command Mode 00h −1: Individual send (Do not perform group send) Data area Initial value −1 0 to 31: Specify a group.
The specified group operation is not saved in the non-volatile memory, and therefore the initial value will be restored once the power is cut off.
Communication timeout action (0Dh)
Description Sets how to stop the motor when a communication timeout occurs. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ
8 Appendix Type Parameter command Mode 00h 0: Immediate stop Data area Initial value 1 1: Decelerate stop
Dwell time (0Eh)
Description Set the dwell time to be used in linked-motion operation 2. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Operation data command Mode 01h to 3Fh (1 to 63) Data area 0 to 50,000 (1=0.001 s) Initial value 0
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Sequential positioning (0Fh)
Description Sets enable or disable sequential positioning operation. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Operation data command Mode 01h to 3Fh (1 to 63) 0: Disable Data area Initial value 0 1: Enable
Positioning mode (10h)
Selects how to specify the position (travel amount) in positioning operation (absolute mode or Description incremental mode). WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Operation data command Mode 01h to 3Fh (1 to 63) 0: INC (incremental) Data area Initial value 0 1: ABS (absolute)
Operating mode (11h)
Description Sets perform positioning operation as single-motion or linked-motion operation. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Operation data command Mode 01h to 3Fh (1 to 63) 0: Single Data area 1: Link Initial value 0 2: Link2
Home-seeking mode (12h)
Description Set the mode for return-to-home operation. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received.
READ 8 Appendix Type Parameter command Mode 00h 0: 2 sensors Data area Initial value 1 1: 3 sensors
STOP action (13h)
Description Sets how the motor should stop when a STOP input is turned ON. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: Immediate stop 1: Decelerate stop Data area Initial value 1 2: Immediate stop & Current OFF 3: Decelerate stop & Current OFF
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Overtravel action (14h)
Description Sets the motor action to take place upon the occurrence of overtravel. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h 0: Immediate stop Data area Initial value 0 1: Decelerate stop
LS contact configuration (1Ah)
Description Sets the ±LS input logics. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: Make (N.O.) Data area Initial value 0 1: Brake (N.C.)
HOMES contact configuration (1Bh)
Description Sets the HOMES input logic. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: Make (N.O.) Data area Initial value 0 1: Brake (N.C.)
SLIT contact configuration (1Ch)
Description Sets the SLIT input logic. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: Make (N.O.) Data area Initial value 0 1: Brake (N.C.) 8 Appendix STOP contact configuration (1Dh)
Description Sets the STOP input logic. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: Make (N.O.) Data area Initial value 1 1: Brake (N.C.)
AWO contact configuration (1Eh)
Description Sets the AWO input logic. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: Make (N.O.) Data area Initial value 0 1: Brake (N.C.)
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C-ON logic configuration (1Fh)
Description Sets the “Excitation control” command logic for RS-485 communication. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: 0=Not excited, 1=Excited Data area Initial value 0 1: 0=Excited, 1=Not excited
Clear counter (20h)
Clears the command position and encoder counter to 0. Description This command also clears the internal deviation of the driver. You can recover from a deviation error by executing the clear counter command. Action entry WRITE Type Operation command Mode 00h Data area The data area values will be ignored.
Perform a counter clear while the motor is stopped.
Reset alarms (21h)
Description Resets the alarms that are present. Action entry WRITE Type Operation command Mode 00h Data area The data area values will be ignored.
Excitation control (22h)
Description Switches the motor excitation condition between excitation and non-excitation. Action entry WRITE Type Operation command Mode 00h The excitation condition of the motor at the power ON varies depending on the “C-ON logic Data area configuration” parameter. See table next.
“C-ON logic configuration” “Excitation control” command 8 Appendix parameter 0 1 0 Not excitation Excitation 1 Excitation Not excitation
Preset position (23h)
Description Presets the command position as the value of the “Preset position” parameter. Action entry WRITE Type Operation command Mode 00h Data area The data area values will be ignored.
Perform a preset position while the motor is stopped.
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Preset encoder counter (24h)
Description Presets the encoder counter value as the value of the “Encoder counter preset value” parameter. Action entry WRITE Type Operation command Mode 00h Data area The data area values will be ignored.
••Perform a preset encoder counter while the motor is stopped. ••This command is used when an encoder is connected.
Clear alarm records (25h)
Description Clears alarm records. Action entry WRITE Type Maintenance command Mode 00h Data area 1: Execute
Clear warning records (26h)
Description Clears warning records. Action entry WRITE Type Maintenance command Mode 00h Data area 1: Execute
Clear communication error records (27h)
Description Clears the communication error records. Action entry WRITE Type Maintenance command Mode 00h Data area 1: Execute
Remote output (32h)
Sets ON/OFF of the R-OUT1 to R-OUT4 output. Data 1 in the data area is assigned as shown in Description
8 Appendix the table next. Action entry WRITE/READ Type Operation command Mode 00h 0: OFF (photocoupler un-energized) Data area Initial value 0 1: ON (photocoupler energized)
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 0 0 0 0 R-OUT4 R-OUT3 R-OUT2 R-OUT1
Remaining dwell time (35h)
Description Monitors how much of the dwell time used in the linked-motion operation 2 remains. Action entry READ Type Monitor command Mode 00h Data area 0 to 50,000 (1=0.001 s)
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Display selection data number (36h)
Description Monitors the operation data number currently selected. Action entry READ Type Monitor command Mode 00h Data area 00h to 3Fh (0 to 63)
Display operation data number (37h)
Monitors the operation data number used in the positioning operation currently in progress. Description This command can be used in a linked-motion operation and sequential positioning operation. While the motor is stopped, the last used operation data number is indicated. Action entry READ Type Monitor command Mode 00h 00h to 3Fh (0 to 63) Data area While the motor is stopped, the last executed data number will be read.
I/O status (39h)
Monitors the each I/O signal (CN2) of the driver. Data 1 to 4 in the data area is assigned as shown Description in the table next. Action entry READ Type Monitor command Mode 00h 0: OFF (photocoupler un-energized) Data area 1: ON (photocoupler energized)
Assignment table for data 1 to 4
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Data 1 0 0 M5 M4 M3 M2 M1 M0 Data 2 0 RVS FWD HOME STOP AWO ALM-RST START Data 3 0 0 0 0 SLIT HOMES −LS +LS Data 4 0 0 OUT4 OUT3 OUT2 OUT1 ALM MOVE
Driver status (3Ch)
Description Monitors the driver status. Data 1 to 4 in the data area is assigned as shown in the table next. 8 Appendix Action entry READ Type Monitor command Mode 00h Data area See table next. zz Assignment table for data 1 to 4
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Data 1 ENABLE ALM AREA S-BSY READY HOME-P 0 MOVE Data 2 START_R O.H. HOMES SLIT −LS +LS STEPOUT WNG Data 3 ZSG TIM M5_R M4_R M3_R M2_R M1_R M0_R Data 4 ALMCD
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zz Details of data being read
Signal Data Description MOVE 1: Motor operating The motor is operating. Return-to-home has completed. It can be used as a HOME-P 1: Return-to-home complete home-seeking completion signal. READY 1: Ready The motor can be operated. Internal processing is in progress via RS-485 S-BSY 1: Internal processing in progress communication. AREA 1: Inside area The motor output shaft is inside the specified range. ALM 1: Alarm present An alarm is present. ENABLE 1: Motor excited The motor excitation command is effective. WNG 1: Warning present A warning is present. STEPOUT 1: Deviation error present The step deviation is abnormal. +LS 1: +Limit sensor signal being detected The I/O +LS signal is being input. −LS 1: −Limit sensor signal being detected The I/O −LS signal is being input. SLIT 1: Slit sensor signal being detected The I/O SLIT signal is being input. 1: Mechanical home sensor signal HOMES The I/O HOMES signal is being input. being detected O.H. 1: Overheat warning present An overheat warning is present. START_R 1: START=ON Indicate the status of START. * M0_R to M5_R Operation data number (00h to 3Fh) Selected data number * The motor is excited. “1” will be read if the motor is at TIM 1:TIM being detected its excitation home. ZSG 1: ZSG being detected The encoder input corresponds to Z-phase. The alarm code corresponding to the alarm currently ALMCD Alarm code present.
** START and M0 to M5 can be turned ON/OFF via I/O or RS-485 communication. If these signals are controlled via I/O, the I/O-controlled ON/OFF status is returned. If the signals are controlled via RS-485 communication, the RS-485- communication-controlled ON/OFF status is returned. I/O control is selected as the default prior to shipment.
Communication error record (3Dh)
Description You can use this command to check the communication errors that have occurred in the past. Action entry READ Type Monitor command 8 Appendix 0: Specify the communication error pertaining to the last received frame. Mode 1 to 10: Specify communication error records 1 to 10. Specify 1 for the latest record. Data area The communication error code is stored under data 1 in the data area.
Alarm record (3Eh)
You can use this command to check the alarms that are present and alarms that have occurred in Description the past. Action entry READ Type Monitor command 0: Specify the alarm currently present. Mode 1 to 10: Specify alarm records 1 to 10. Specify 1 for the latest record. Data area The alarm code is stored under data 1 in the data area.
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Warning record (3Fh)
You can use this command to check the warnings that are present and warnings that have Description occurred in the past. Action entry READ Type Monitor command 0: Specify the warning currently present. Mode 1 to 10: Specify warning records 1 to 10. Specify 1 for the latest record. Data area The warning code is stored under data 1 in the data area.
Operating current (40h)
Description Sets the motor operating current based on the rated current being 100%. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h Data area 5 to 100 (%) Initial value 100
Decrease the operating current and standstill current when there is excess margin in the motor torque and you wish to reduce vibration during operation or suppress heat generation from the motor. However, be careful of an excessive decrease in current, since the motor torque and holding brake force will drop in rough proportion to the operating current.
Standstill current (41h)
Sets the motor standstill current as a percentage of the rated current, based on the rated current Description being 100%. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h Data area 5 to 50 (%) Initial value 50
••Decrease the operating current and standstill current when there is excess margin in the motor torque and you wish to reduce vibration during operation or suppress heat generation from the motor. However, be careful of an excessive decrease in current, since the motor torque and holding brake force will drop in rough proportion to the operating current.
••The standstill current is the rated current (100%) multiplied by the standstill current ratio. 8 Appendix
Motor rotation direction (43h)
Description Sets the rotation direction of motor output shaft. WRITE: This setting will become effective after the “Batch non-volatile memory write” command Action entry is executed and the power is cycled. READ Type Parameter command Mode 00h 0: +direction=CCW Data area Initial value 1 1: +direction=CW
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Motor step angle (44h)
Description Sets the motor step angle. WRITE: This setting will become effective after the “Batch non-volatile memory write” command Action entry is executed and the power is cycled. READ Type Parameter command Mode 00h Data area See table next. Initial value 0
zz Setting value of the “Motor step angle (44h)” command If the base step angle of the motor is 0.72° If the base step angle of the motor is 0.36° Setting Step angle Number of divisions Setting Step angle Number of divisions 0 0.72° 1 0 0.36° 1 1 0.36° 2 1 0.18° 2 2 0.288° 2.5 2 0.144° 2.5 3 0.18° 4 3 0.09° 4 4 0.144° 5 4 0.072° 5 5 0.09° 8 5 0.045° 8 6 0.072° 10 6 0.036° 10 7 0.036° 20 7 0.018° 20 8 0.0288° 25 8 0.0144° 25 9 0.018° 40 9 0.009° 40 10 0.0144° 50 10 0.0072° 50 11 0.009° 80 11 0.0045° 80 12 0.0072° 100 12 0.0036° 100 13 0.00576° 125 13 0.0028° 125 14 0.0036° 200 14 0.0018° 200 15 0.00288° 250 15 0.00144° 250
••Step angles are theoretical values. ••With the geared type, the value of “step angle/gear ratio” becomes the actual step angle. ••The base step angle is 0.36° for high-resolution type motors.
8 Appendix Batch non-volatile memory write (48h)
Description Writes the operation data and parameters saved in the RAM, to the non-volatile memory. Action entry WRITE Type Maintenance command Mode 00h Data area 1: Execute
••Perform the batch non-volatile memory write while the motor is stopped. ••The non-volatile memory can be rewritten approximately 100,000 times.
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Batch all data initialization (49h)
Resets the operation data and parameters saved in the RAM and non-volatile memory, to their defaults. Description Note that the following parameters are not initialized; Communication axis number, communication protocol, communication parity, communication stop bit and transmission waiting time Action entry WRITE Type Maintenance command Mode 00h Data area 1: Execute
••Perform the batch non-volatile memory initialization while the motor is stopped. ••The non-volatile memory can be rewritten approximately 100,000 times.
Batch non-volatile memory read (4Ah)
Reads the operation data and parameters saved in the RAM, to the non-volatile memory. Description All operation data and parameters currently saved in the RAM will be overwritten by the corresponding data and parameters read from the non-volatile memory. Action entry WRITE Type Maintenance command Mode 00h Data area 1: Execute
Perform the batch non-volatile memory read while the motor is stopped.
Encoder electronic gear A (4Bh)
Sets the encoder electronic gear A. This command is used in the misstep detection function. It Description does not affect the encoder counter value. See p.87 for details. WRITE: This setting will become effective after the “Batch non-volatile memory write” command Action entry is executed and the power is cycled. READ Type Parameter command Mode 00h Data area 1 to 250,000 Initial value 500
This command is used when an encoder is connected. 8 Appendix
Encoder electronic gear B (4Ch)
Sets the encoder electronic gear B. This command is used in the misstep detection function. It Description does not affect the encoder counter value. See p.87 for details. WRITE: This setting will become effective after the “Batch non-volatile memory write” command Action entry is executed and the power is cycled. READ Type Parameter command Mode 00h Data area 1 to 250,000 Initial value 500
This command is used when an encoder is connected.
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Starting speed (80h)
Description Sets the starting speed in positioning operation and continuous operation. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h Data area 1 to 500,000 (Hz) Initial value 100
Acceleration rate (82h)
Sets the acceleration rate in positioning operation and continuous operation. The acceleration rate can be set as follows using the “Acceleration (deceleration) rate type” Description command. Separate: The acceleration rate set under the applicable operation data number will be followed. Common: The setting of the “Common acceleration rate” command will be followed. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Operation data command Mode 01h to 3Fh (1 to 63) Data area 0.001 to 1,000.000 (ms/kHz) Initial value 30.000
Deceleration rate (83h)
Sets the deceleration rate in positioning operation and continuous operation. The deceleration rate can be set as follows using the “Acceleration (deceleration) rate type” Description command. Separate: The deceleration rate set under the applicable operation data number will be followed. Common: The setting of the “Common deceleration rate” command will be followed. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Operation data command Mode 01h to 3Fh (1 to 63) Data area 0.001 to 1,000.000 (ms/kHz) Initial value 30.000
Operating speed (88h)
8 Appendix Description Sets the operating speed in positioning operation and continuous operation. WRITE: In positioning operation, set this before the operation is started. The setting will become effective immediately after valid data has been received. In continuous operation, the setting will become effective immediately after valid data Action entry has been received. The speed will change while continuous operation is being performed. READ Type Operation data command Mode 01h to 3Fh (1 to 63) Data area 1 to 500,000 (Hz) Initial value 1,000
Command speed (8Bh)
Description Monitors the current command speed. Action entry READ Type Monitor command Mode 00h −500,000 to 500,000 (Hz) Data area A positive value indicates the forward direction, while a negative value indicates a reverse direction.
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Acceleration (deceleration) rate type (8Dh)
Sets whether to use the common acceleration/deceleration rate or the acceleration/deceleration Description rate specified for the operation data. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h 0: Common Data area Initial value 0 1: Separate
Common acceleration rate (8Eh)
Sets the common acceleration rate in positioning operation and continuous operation. The acceleration rate can be set as follows using the “Acceleration (deceleration) rate type” Description command. Separate: The acceleration rate set under the applicable operation data number will be followed. Common: The setting of the “Common acceleration rate” command will be followed. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h Data area 0.001 to 1,000.000 (ms/kHz) Initial value 30.000
Common deceleration rate (8Fh)
Sets the common deceleration rate in positioning operation and continuous operation. The deceleration rate can be set as follows using the “Acceleration (deceleration) rate type” Description command. Separate: The deceleration rate set under the applicable operation data number will be followed. Common: The setting of the “Common deceleration rate” command will be followed. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h Data area 0.001 to 1,000.000 (ms/kHz) Initial value 30.000
JOG starting speed (90h) 8 Appendix
Description Sets the starting speed for JOG operation. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h Data area 1 to 500,000 Hz Initial value 100
JOG acceleration (deceleration) rate (91h)
Description Sets the acceleration/deceleration rate for JOG operation. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h Data area 0.001 to 1,000.000 (ms/kHz) Initial value 30.000
213 Method of control via GW protocol Version 1
JOG operating speed (92h)
Description Sets the operating speed for JOG operation. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h Data area 1 to 500,000 Hz Initial value 1,000
Starting speed of home-seeking (93h)
Description Sets the starting speed for return- to-home operation. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h Data area 1 to 500,000 Hz Initial value 100
Acceleration (deceleration) rate of home-seeking (94h)
Description Sets the acceleration/deceleration rate for return-to-home operation. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h Data area 0.001 to 1,000.000 (ms/kHz) Initial value 30.000
Operating speed of home-seeking (95h)
Description Sets the operating speed for return- to-home operation. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h Data area 1 to 500,000 Hz Initial value 1,000
8 Appendix HOME/FWD/RVS input mode (98h)
Description Sets whether to input the HOME, FWD and RVS input signals via I/O or RS-485 communication. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: RS-485 communication Data area Initial value 1 1: I/O
START input mode (99h)
Description Sets whether to input the START input signal via I/O or RS-485 communication. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: RS-485 communication Data area Initial value 1 1: I/O
214 Method of control via GW protocol Version 1
I/O STOP input (9Ah)
Description Sets enable or disable STOP input of I/O. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: Disable Data area Initial value 1 1: Enable
Motor excitation mode (9Bh)
Description Sets whether to control the motor excitation via I/O or RS-485 communication. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: RS-485 communication Data area Initial value 1 1: I/O
Data No. input mode (9Ch)
Description Sets whether to input the M0 to M5 input signals via I/O or RS-485 communication. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: RS-485 communication Data area Initial value 1 1: I/O
Position (A0h)
Description Sets the position (distance) for positioning operation. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Operation data command Mode 01h to 3Fh (1 to 63) Data area −8,388,608 to +8,388,607 (step) Initial value 0
Command position (A1h) 8 Appendix
Description Monitors the command position of the driver. Action entry READ Type Monitor command Mode 00h Data area −2,147,483,648 to +2,147,483,647 (step)
Encoder counter (A2h)
Description Monitors the encoder counter value. Action entry READ Type Monitor command Mode 00h Data area −2,147,483,648 to +2,147,483,647 (step)
This command is used when an encoder is connected.
215 Method of control via GW protocol Version 1
Encoder counter preset value (A3h)
Description Sets the encoder counter preset value. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h Data area −8,388,608 to +8,388,607 (step) Initial value 0
This command is used when an encoder is connected.
Preset position (A4h)
Description Sets the preset position. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h Data area −8,388,608 to +8,388,607 (step) Initial value 0
Area 1 (A5h)
Sets the range for AREA output. The AREA output will be ON when the motor is inside the area Description set by the area 1 and area 2. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h Data area −8,388,608 to +8,388,607 (step) Initial value 0
Area 2 (A6h)
Sets the range for AREA output. The AREA output will be ON when the motor is inside the area Description set by the area 1 and area 2. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h Data area −8,388,608 to +8,388,607 (step) Initial value 0 8 Appendix Position offset of home-seeking (A8h)
Description Sets the amount of offset from mechanical home. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h Data area −8,388,608 to +8,388,607 (step) Initial value 0
Starting direction of home-seeking (A9h)
Description Sets the starting direction for home detection. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h 0: Negative direction Data area Initial value 1 1: Positive direction
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SLIT detection with home-seeking (AAh)
Description Sets whether or not to concurrently use the SLIT input for return-to-home operation. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h 0: Disable Data area Initial value 0 1: Enable
TIM signal detection with home-seeking (ABh)
Description Sets whether or not to concurrently use the TIM (ZSG) output for return-to-home operation. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h 0: Disable Data area 1: Enable (TIM) Initial value 0 2: Enable (ZSG) ∗
** This signal is used when an encoder is connected.
Backward steps in 2-sensor mode home-seeking (ACh)
Sets the travel amount after the motor pulls off of the LS sensor in 2-sensor return-to-home Description operation. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h Data area 0 to 32,767 (step) Initial value 200
Overvoltage warning (B1h)
Description Sets the voltage at which an overvoltage warning generates. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ
Type Parameter command Mode 00h 8 Appendix Data area 250 to 350 (1=0.1 V) Initial value 310
Overheat warning (B2h)
Description Sets the temperature at which an overheat warning generates. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h Data area 40 to 85 (°C) Initial value 85
217 Method of control via GW protocol Version 1
Software overtravel (B7h)
Description Sets whether to enable or disable software overtravel detection using soft limits. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h 0: Disable Data area Initial value 1 1: Enable
Positive software limit (B8h)
Description Sets the value of the soft limit in + direction. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h Data area −8,388,608 to +8,388,607 (step) Initial value 8,388,607
Negative software limit (B9h)
Description Sets the value of the soft limit in − direction. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h Data area −8,388,608 to +8,388,607 (step) Initial value −8,388,608
Hardware overtravel detection (BAh)
Description Sets whether to enable or disable hardware overtravel detection using LS inputs. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h 0: Disable Data area Initial value 1
8 Appendix 1: Enable
Stepout detection band (BBh)
Sets the judgment condition for misstep detection using the deviation (angle) between the Description command position and encoder counter value. See p.87 for misstep detection. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h Data area 1 to 3,600 (1=0.1 deg) Initial value 72
••This command is used when an encoder is connected. ••To use misstep detection, set the “Stepout detection” parameter to “enable.”
218 Method of control via GW protocol Version 1
Stepout detection action (BCh)
Sets the operation to be performed when the deviation between the command position and Description encoder counter value reaches the stepout detection band. See p.87 for misstep detection. WRITE: Set this before the operation is started. The setting will become effective immediately Action entry after valid data has been received. READ Type Parameter command Mode 00h 0: No action (alarm/warning not present) Data area 1: Warning Initial value 0 2: Alarm
••This command is used when an encoder is connected. ••To use misstep detection, set the “Stepout detection” parameter to “enable.”
Stepout detection (BDh)
Sets whether to enable or disable the misstep detection function. See p.87 for misstep Description detection. WRITE: This setting will become effective after the “Batch non-volatile memory write” command Action entry is executed and the power is cycled. READ Type Parameter command Mode 00h 0: Disable Data area Initial value 0 1: Enable
This command is used when an encoder is connected.
Display mode of the data setter speed (CAh)
Description Sets the display method of monitored speed in the OPX-2A. WRITE: The setting will become effective immediately after valid data has been received. Action entry READ Type Parameter command Mode 00h 0: Signed Data area Initial value 0 1: Absolute 8 Appendix
The data setter editing mode (CBh)
Description Sets whether to enable editing by the OPX-2A when the power is turned on. Action entry WRITE/READ Type Parameter command Mode 00h 0: Disable Data area Initial value 1 1: Enable
219 Method of control via GW protocol Version 1
2-12 Simultaneous send
One frame can be sent to all slaves connected to the master. The slaves do not respond in the case of simultaneous send. The operation specifications and commands that can be sent via simultaneous send are limited. The invalid operation specifications and commands are ignored.
Operation specifications that can be executed via simultaneous send
Operation specifications Description STOP Stop command RVS Continuous operation in reverse direction FWD Continuous operation in forward direction START Positioning operation
Commands that can be executed via simultaneous send
Command execution Command No. Description READ WRITE 00h Data number selection 20h Clear counter 21h Reset alarms 22h Impossible Possible Excitation control 23h Preset position 24h Preset encoder counter 32h Remote output
2-13 Group send
A frame is sent simultaneously to all of the slaves comprising one group.
Group composition Each group consists of one master axis and one or Frame (sent to more slave axes, and only the master axis returns a Master the master axis) response. Master axis Slave Frame 8 Appendix zz Group axis number To perform a group send, set a group axis number Frame (sent to Master to the slave axes to be included in the group. the master axis) The slave axes to which the group axis number has Slave axis been set can receive a frame sent to the master axis. Slave Executes the Accordingly, you can send a frame to all of the process but does not send a response. master and slave axes in the group by sending it to the master axis only. zz Master axis No special setting is required on the master axis to perform a group send. The axis number of the master axis becomes the group axis number. When a command is sent to the master axis from the master, the master axis executes the requested process and then returns a response. zz Slave axis Use a “Group” command to set a group axis number to each slave axis. The master axis is not always required, and a group may consist only of slave axes if no response is required. In this case, set an available axis number for the group. When a frame is sent from the master to this axis number, the frame is sent to all members of the group simultaneously.
220 Method of control via GW protocol Version 1
Operation specifications that can be executed via group send
Operation specifications Description STOP Stop command HOME Return-to-home operation RVS Continuous operation in reverse direction FWD Continuous operation in forward direction START Positioning operation
Commands that can be executed via group send
Command execution Command No. Description READ WRITE 00h Data number selection 20h Clear counter 21h Reset alarms 22h Impossible Possible Excitation control 23h Preset position 24h Preset encoder counter 32h Remote output
Example of group send
Master controller
Master Slave Slave axis axis axis
Address number 0 Address number 1 Address number 2 "Group" command: -1 "Group" command: 0 "Group" command: 0 (individual) 8 Appendix
Start of positioning Start of positioning Master to slave operation of unit 1 operation of unit 2 Slave to master Response Response from unit 1 from unit 2
Motor operation of unit 1 (master axis)
Motor operation of unit 2 (slave axis)
Motor operation of unit 3 (slave axis)
This operation assumes that the “Group operation” parameter is set to “enable” (initial value). If this parameter is set to “disable”, the slave axes will receive frames only via group send and thus the operation specifications and commands sent individually to a given unit will not be executed.
221 Method of control via GW protocol Version 1
2-14 Detection of communication errors
This function detects abnormalities that may occur during RS-485 communication. The abnormalities that can be detected include communication errors, alarms and warnings.
Communication errors If the frame is discarded due to a reception failure (NACK) or RS-485 communication error (84h), a communication error record will be saved in the RAM. You can check the communication errors using the “Communication error record” command using the MEXE02 or via RS-485 communication.
The communication error record will be cleared once the driver power is turned off.
Type of communication error Error code Cause One of the following errors was detected. A single error will generate a warning. If the error generates three times consecutively, an alarm will generate. RS-485 communication error 84h · Framing error · Elapse of receive monitor period · Mismatched BCC · Invalid header The command could not be executed for the following reasons: · Insufficient operation specification (A system-reserved bit was set to 1.) Command not yet defined 88h · Unknown mode (An undefined mode was specified.) · Unknown command (An undefined command was specified.) · WRITE failure (An invalid write command was specified.) · READ failure (An invalid read command was specified.) The command could not be executed because the user interface communication was in progress. User interface communication · Downloading or initialization is currently in progress via the 89h in progress MEXE02. · The OPX-2A is currently connected in a mode other than the monitor mode. The command could not be executed because the driver was processing the non-volatile memory. Internal processing in progress 8Ah · Internal processing was in progress. (S-BSY is ON.) · An EEPROM error alarm was present. The command could not be executed because the data was Outside setting range 8Ch outside the specified range. 8 Appendix Alarms and warnings When an alarm generates, the ALM output will turn OFF and the motor will stop. At the same time, the ALARM LED will start blinking. When a warning generates, the WNG output will turn ON. The motor will continue to operate. Once the cause of the warning is removed, the WNG output will turn OFF automatically.
You can also clear the warning records by turning off the driver power.
zz RS-485 communication error (84h) The table next shows the relationship between alarms and warnings when an RS-485 communication error occurs.
Type of error Description If a RS-485 communication error (84h) generates only once, a warning will generate. Warning The warning will be reset automatically following a successful data reception. An alarm generates when a RS-485 communication error (84h) has been detected consecutively by Alarm the number of times set in the “Communication error alarm” parameter. While the alarm is present, RS-485 communication is cut off and the motor becomes unexcited.
222 Method of control via GW protocol Version 1
The causes of RS-485 communication error (84h) and remedial action taken by the slave are shown below.
Error Cause Remedial action Framing error The stop bit is “0.” Elapse of receive Receive monitor period elapsed before the monitor period frame reception was completed. The received frame will be destroyed and the slave wait for the next frame to Mismatched BCC The BCC did not match the calculated value. be received. An address number other than 0 was specified Invalid header for simultaneous send.
Even when a RS-485 communication error (84h) occurs, the slave does not send a reply. Accordingly, the master should perform an appropriate action such as resending the command. Before resending the command from the master, wait for at least T2 (response time)+T3 (receive monitoring). If the command is resent before the receive monitoring period elapses, the next frame may not be received properly.
zz RS-485 communication timeout (85h) If communication is not established with the master device after an elapse of the time set by the “Receive period” parameter, a RS-485 communication timeout alarm will generate. The motor stopping method can be set using the “Communication timeout action” parameter.
2-15 Timing charts
Communication start
ON Power supply input OFF 1 s or more *
Master Frame Communication Slave Frame
** T2 (response interval)
Operation start
*2
Master Frame *1 8 Appendix Communication Slave Frame 4 ms or less ON MOVE output OFF
*1 Frame containing an operation specification (HOME, RVS, FWD or START) *2 T2 (response interval)
223 Method of control via GW protocol Version 1
Operation stop, speed change
*2
Master Frame *1 Communication Slave Frame *4*3
Motor speed command
*1 Frame containing the operation specification STOP or “Data number selection” command *2 T2 (response interval) *3 The specific time ariesv depending on the command speed. *4 The deceleration method to be applied at the time of stopping varies according to the value set by the “STOP action” command.
Excitation control
*2 *2
Master Frame *1 Frame *1 Communication Slave Frame Frame 4 ms or less 4 ms or less
Motor excitation command Excitation Not excitation Excitation
*1 Frame containing the “Excitation control” command *2 T2 (response interval)
Remote output
*2
Master Frame *1 Communication Slave Frame 3 ms or less R-OUT1 output ON R-OUT2 output OFF
*1 Frame containing the “Remote output” command *2 T2 (response interval) 8 Appendix
224 8 Appendix
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